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Figure 1. Example of a 3D model of an underwater site that is aPhoenician shipwreck recently discovered located near Malta.
Figure 2. System hardware architecture
Figure 5. An example of underwater image showing minimumpossible disparity (red dots, ∼ 140 pixels) and maximumpossible disparity (blue dot, ∼ 430 pixels).
Figure 7. Illustration of disparity tolerance t given a lightnessvalue l.
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