UAV Remote Sensing of Submerged Marine Heritage: The Tirpitz Wreck Site, Håkøya, Norway

Abstract

This study evaluates the use of UAV-based photogrammetry to document shallow submerged cultural heritage, focusing on the Tirpitz wreck salvage site near Håkøya, Norway. Using a DJI Phantom 4 Multispectral drone, we acquired RGB and multispectral imagery over structures located at depths of up to 5-10 m. Structure-from-Motion (SfM) processing enabled three-dimensional reconstruction of submerged features, including a 52 × 10 m wharf and adjacent debris piles, with accuracies of the order of 10 cm. Our data represents the first and only accurate mapping of the site yet carried out, with an absolute position uncertainty estimated to be no greater than 3 m. Volumes of imaged debris could be estimated, using a background subtraction method to allow for variable bathymetry, as around 350 m3. Bathymetric data for the sea floor could be derived effectively from SfM point cloud, though less effectively applying the Stumpf model to the multispectral data as a result of significant spectral variation in the sea floor reflectance. Our results show that UAV-based through-surface SfM is a viable, low-cost method for reconstructing submerged heritage with high spatial accuracy. These findings support the integration of UAV-based remote sensing into heritage and environmental monitoring frameworks for shallow aquatic environments.