Innovations on underwater stereoscopy: the new developments of the TV-Trackmeter

Some recent developments on the “TV-Trackmeter”, a stereoscopic measuring system, are presented and its reliable use in hostile environments proved. In the paper the system is introduced briefly describing the former device and its aims. The most recent innovations are highlighted featuring capabilities such as 3D measuring, automatic mapping, geometric modelling, tracking and recording/retrieving of stereo pair images. A theoretical introduction to the operating mode of a stereoscopic device is given, followed by an error propagation analysis. A brief description is also given of the device accuracy in terms of the pose detection (position and attitude estimation) of the backdrop objects. Then an evaluation of the tracking speed capability is provided. Some examples are shown of trials carried on within a power nuclear plant and in the underwater environment