G Model

CULHER-3320; No. of Pages 6 ARTICLE IN PRESS

Journal of Cultural Heritage xxx (2017) xxx–xxx

Available online at

ScienceDirect
www.sciencedirect.com

Technoheritage Special Issue

Underwater photogrammetric monitoring techniques for mid-depth

shipwrecks
Enrique Aragón a,∗ , Sebastia Munar b , Javier Rodríguez b , Kotaro Yamafune c
a
Flinders University of South Australia, Sturt Rd, Bedford Park SA 5042, Australia
b
Institut Balear d’Estudis en Arqueologia Maritima, Islas Baleares, Spain
c
Texas A & M University, Texas, United States

a r t i c l e i n f o a b s t r a c t

Article history: Over the last few years there have been advances in technical diving, which have made it more accessible
Received 28 October 2017 (including financially), making it possible to dive to greater depths and, consequently, reach underwater
Accepted 19 December 2017 archaeological sites in deeper waters, which were previously considered “untouchable”. As these sites are
Available online xxx
now at potential risk of anthropic interference, new approaches to monitoring techniques are therefore
considered necessary to ensure the protection of Underwater Cultural Heritage. This paper presents a
Keywords: protocol for monitoring techniques to be applied to ‘mid-depth archaeological remains’. The proposed
Underwater cultural heritage
technique is based on a combination of low-cost photogrammetric methods. Using as a case study a
Shipwreck
Photogrammetry
Roman era shipwreck from Majorca, off the east coast of Spain, this paper presents an ideal protocol for
Monitoring techniques the essential first stages in protecting and managing the archaeological record of an underwater site at
medium depth. The process gives immediate results, using photogrammetric and orthophoto coverage
of the site to build up a highly accurate site map, as well as recording high-definition images in order to
create a computer model of the site.
© 2017 Elsevier Masson SAS. All rights reserved.

1. Introduction with no evidence of looting activity, is an important “in situ” site,

The Cabrera archipelago, near the island of Majorca, off the
east coast of Spain (Fig. 1), has a proliferation of maritime cultural
heritage sites. Currently, these include two from the Punic period
(Cabrera II and VII), five from the Early Roman Age (Cabrera IV, V,
VI, VIII and XI), four from the Late Roman Age (Cabrera I, III, IX and
XIV) and three modern era sites (Cabrera X, XII and XIII). There are
also isolated finds from medieval times, both Islamic and Chris-
tian, as well as many other remains whose archaeological nature
has yet to be determined ([1,2]). While there have been studies on
numerous underwater sites such as Cabrera I and Cabrera III [3],
the Spanish archipelago is still surprising us with new discoveries
in deeper waters. This is the case with Cabrera XIV, an amphorae
accumulation associated with a 3rd–4th century AD shipwreck.
Exceptionally well preserved, this archaeological assemblage was
totally unknown, resting in barely 70 metres of water. The cargo,
Abbreviations: IBEAM, Institut Balear d’Estudis en Arqueologia Maritim; UCH,
Underwater Cultural Heritage; UNESCO 2001, Convention on the Protection of
Underwater Cultural Heritage 2001; MCH, Maritime Cultural Heritage.
∗ Corresponding author. Tel.: +(+61) 0424271397.
E-mail address: enrique.aragon@flinders.edu.au (E. Aragón).
showing the almost intact layout of the artefacts aboard.
The first clandestine recoveries of archaeological materials in
Cabrera occurred in the middle of the 20th century [4]: those ship-
wrecks in shallow waters being the first to be affected. As the more
accessible assemblages were destroyed, the shipwrecks at greater
depths began to be looted ([5–10]).
2. The archaeological background
Given its geostrategic importance, the Balearic Islands played a
key role [11] in the maritime connectivity of the ancient world,
growing first from a local economic influence to being a major
regional one then, following the archipelago’s integration into the
Roman Empire, becoming even more pivotal in the connection of
trade routes. Maritime traffic would have been intense in the waters
of the Balearic Islands during the Roman Period and consequently
the islands are essential in understanding the connections between
production areas such as Hispania (current Spain) and the North
African Coast, and consumption areas such as Gaul (current France)
or the Italian Peninsula.
As to the nature of this trading activity, several authors [12,13]
have differentiated between two common types of maritime ship-
ments of African products during the 3rd–4th Centuries A.D.

https://doi.org/10.1016/j.culher.2017.12.007
1296-2074/© 2017 Elsevier Masson SAS. All rights reserved.

Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
G Model
CULHER-3320; No. of Pages 6 ARTICLE IN PRESS
2 E. Aragón et al. / Journal of Cultural Heritage xxx (2017) xxx–xxx

Fig. 1. Cabrera’s island location.

Firstly, “homogeneous” cargoes composed of only one type of
amphorae/product, all from the same provenance. Secondly, “het-
erogeneous” cargoes, with amphorae of diverse provenance such as
Baetica or Lusitania (south-western Roman provinces of the Iberian
Peninsula), as well as North Africa. These cargoes have been clearly
identified thanks to a high number of wrecks dating from this time
frame [14].
One of the clearest cases of this type of cargo is represented
by the Cabrera III shipwreck [15], where amphorae from Baetica
and Lusitania are combined with others of diverse African origin. It
is within this historical-archaeological context that the shipwreck
Cabrera XIV, case study and object of the present article, would
appear to be framed.
• identify historical and archaeological context;
• identify cargo and dimensions;
• establish an evaluation of the current state of conservation.
The proposed monitoring control plan needed to take into
account the following factors:
• economically affordable;
• technical optimization (infrastructure);
• efficient at scientific level (time investment + results).
4. Material and methods

The fieldwork of the Cabrera XIV shipwreck was governed by

3. Research aim
This article will discuss the application of existent workflow
([16,17]) for shipwreck assessment, integrating digital techniques,
to a mid-depth shipwreck; now at higher risk than in previous
decades (for reasons explained above). The Cabrera XIV appears
to be a perfect scenario for this discussion, being the target of a
project with a proposed protocol plan embedded in a management
workflow drawn up by the institutions in charge of the protection
of underwater archaeological finds.
The project was managed by the “Institut Balear d’Estudis en
Arqueologia Maritima (IBEAM)” together with the Cultural Depart-
ment of the Majorca Council and the administration team for the
Cabrera Islands’ Nature Reserve. IBEAM was established in 2012 for
researching, protecting, preserving and disseminating the richness
of the area’s underwater/maritime culture heritage in line with the
2001 UNESCO Convention on the protection of Underwater Her-
itage.
The intervention plan was drawn up in accordance with this con-
vention so as to minimize the impact on the UCH. As acquiring a
maximum information record was a priority, IBEAM, together with
the Mallorca Council and the Cabrera National Park authorities,
formulated the next steps to be taken:
• to identify the shipwreck’s exact position;
such physical conditions as the site’s depth and submarine currents
observed, along with external factors such as the available budget
and, consequently, the time available to carry out the work. Taking
into account all these factors, a protocol of action was drawn up,
whose main objective was to obtain an orthophoto using multi-
photography and photogrammetry methodology [17] that would
allow us to create a panoramic image of the site with a high enough
resolution to be able to study the wreck and site in detail.
4.1. Diving conditions
As mentioned above, the available budget made time manage-
ment an important factor, so the underwater intervention was
planned over two days fieldwork, incorporating the maximum
work benefit whilst ensuring safe limits for diving. On top of these
previous conditions, the site environment at −70 m depth; spread
out over 300 m2 ; with a visibility of 25–30 m; and low current
together defined the correct diving plan.
The solution proposed for the archaeological intervention was
the use of a rebreather system ‘an electromechanical device that
can provide breathing gas through infusion of oxygen and recycling
of carbon dioxide through the use of a chemical scrubber’ ([18]:6).
The composition of the gas mix used was: 15% O2 , 50% He, 15% N,
allowing 45 minutes of effective work time. A decompression plan
of 150 minutes which included two safety stops where divers were

Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
G Model
CULHER-3320; No. of Pages 6 ARTICLE IN PRESS
E. Aragón et al. / Journal of Cultural Heritage xxx (2017) xxx–xxx
supported by two 50/20 mixed gas tanks at −21 m and another two
of pure oxygen at −6 m were integrated into the total operation.
Each diver also carried their own safety tank with 18/45 mixed
gas. Tanks were anchored to the safe line that was positioned as
a guide-line to drive divers from the surface to the archaeological
site, minimizing physical effort. The safety plan took into account
two divers operating underwater, with two further divers at the
surface with extra safety equipment, to be provided in case of an
emergency.
4.2. Technical support
For photogrammetric modelling purposes, at the Cabrera XIV
site a Nikon D810 camera with a 14 mm lens and Seacam’s SeaFlash
150D flash unit were employed. A second camera, a Sony RX100
IV, was used to film the intervention and photograph specific
amphorae in detail (Fig. 2).
4.3. Workflow and recording procedure
A first diving session served a double purpose, the support and
safety diver marked out the perimeter with scales at a distance
of 2 m outside the site boundary for data collection. This step was
crucial to ensure the accuracy of the model. Twenty-six 4 × 4 cm
targets were used to create the scales (Fig. 3). These were printed
in PVC to avoid reflection and were stuck to metal plates to weight
them down and keep them stable in their position (template from
Agisoft Photoscan) at a 3 m distance from each other. Inside the
shipwreck, a total of 8 × 1 m scale bars were positioned to facilitate
the trilateration when editing the photogrammetry model.
Two diving sessions were programmed for the second day of
fieldwork: one for the photogrammetry recording procedure and a
second one for capturing further detail and clearing the site at the
end of the process of all the equipment used during the interven-
tion. The camera was programmed to record in time-lapse mode
with flash, with a shooting frequency of once every two seconds.
We opted to store the files as good compression JPEGs (approx-
imately 1:4), which gave us better guarantees that we would be
able to store the large volume of images captured throughout the
Fig. 2. Portrait shipwreck amphorae typology.
Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
3
process during each dive (as opposed to RAW images, where the
large data size of each image means that fewer images can be
stored).
For data collection, it was decided that the photographer would
stay no more than 2 m above the shipwreck, so that we could cap-
ture as much detail as possible in the resulting photos (Fig. 4). It had
also been decided that the photographer would make three passes
— ‘flights’ or ‘tracks’ — in order to obtain a two-dimensional model
(orthophoto) of the shipwreck (Fig. 5). The first flight consisted
of covering the perimeter; following the line of targets, making
sure to capture two targets in each photograph to assist correct
overlapping during the edition process. In the second flight, the
photographer had to cover the whole of the wreck by performing
transects from north to south. The third and last track served to
guarantee complete coverage of the wreck by crossing from east
to west. During the three passes, two constants were maintained:
the position of the camera at an angle of 90◦ above the horizontal
plane, and a minimum overlap of 50% between the images taken
on each transect.
5. Theory. A new concept: mid-depth shipwrecks
Deep-water sites have seen increasing attention from maritime
archaeologists thanks to the improvement of remotely operated
vehicles (ROV) and technical advances in autonomous underwa-
ter vehicles (AUV). At the same time as these sites are becoming
increasingly accessible, they are also becoming more threatened by
human activities such as oil and gas development, bottom trawling,
and commercial salvaging ([19]:10).
This interest for deep-water sites has been prevalent for
decades, but advances in the use of the above technologies have
made it possible to locate and intervene in multiple sites up to
depths of 70 m [20], and are sometimes even used for remains as
deep as 1300 m [21]. The exploration of these deep-sites has not
always, unfortunately, been for research purposes, but rather has
often included salvage activities which might better be considered
as closer to the cliché of ‘treasure hunters’ ([22]:402).
Focusing on sites located between 60–70 m, at a similar depth
to our case study, from the first interventions to almost the
G Model
CULHER-3320; No. of Pages 6 ARTICLE IN PRESS
4 E. Aragón et al. / Journal of Cultural Heritage xxx (2017) xxx–xxx

Fig. 3. Targets and scale used during the photogrammetry fieldwork.

Fig. 4. Maximum detail resolution example from the photomosaic image.

beginning of the 21st century, we can observe a rise in the use
of costly machinery that has made the identification and record
of archaeological remains possible ([23]:23–98). Over the last ten
years photogrammetry methods have been proposed as a method
of obtaining an effective set of data about underwater remains of
diverse nature and condition: from highly costly technical support
such as remotely operated underwater vehicles [24] to very low
cost techniques using action cameras [25].
Over the last few years recreational diving using techniques such
as mixing gas or equipment such as rebreather systems, has become
more popular. These practices make deeper water accessible, and
consequently underwater archaeological sites which have hereto
been considered “untouchable”, are no longer so. This new context
should be interpreted as a new scenario in risk assessment. New
approaches to monitoring techniques are therefore necessary at
this point, to ensure the protection of this newly exposed Underwa-
ter Cultural Heritage; and following the discovery of this particular
shipwreck, the local authorities considered it a priority that such
an action plan should be drawn up.
One of the criticisms that underwater archaeologists often
receive from terrestrial archaeologists is that underwater archae-
ology does not match the site recording standards that terrestrial
archaeology achieves. This is true to some extent: because of the
nature of terrestrial sites, on land it is possible for archaeologists
to record layers of sediment and their contents, which is called
the study of stratigraphy. At the end of a terrestrial field season,
the archaeology team may have sequential layers of site plans that
help them understand stratigraphy and the site formation pro-
cesses that have occurred there. Contrarily, nautical archaeologists
find it difficult to produce layers of site plans because working
time underwater is so much more limited. For example, when
the archaeological site is more than 30 m deep maritime archae-
ologists can only work on the site for less than 60 minutes per
day. In addition, running underwater excavations is tremendously

Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
G Model
CULHER-3320; No. of Pages 6 ARTICLE IN PRESS
E. Aragón et al. / Journal of Cultural Heritage xxx (2017) xxx–xxx
Fig. 5. Photomosaic of the Cabrera XIV shipwreck site created in 2017 during the team’s first visit to the site. It consists of 2000 photos, taken in 45 minutes at 68 m (ca. 2 m
above the wreck).
expensive because they require special equipment, including a dive
boat. Nautical archaeologists are usually able to create only one site
plan at the end of the field season. In short, to date it has been nearly
impossible for nautical archaeologists to produce layers of a site
plan to help understand stratigraphy and site formation processes.
However, several years ago, PhotoScan, a fairly inexpensive
and accurate photogrammetry software appeared on the market.
Nautical archaeologists realized the importance of its data pro-
ducing ability. Today, adopting the correct methods and using
photogrammetry software and other computer programs, nautical
archaeologists can produce archaeological site plans fairly quickly.
With this ability comes a clearer understanding of the site forma-
tion processes that act upon underwater archaeological sites, and
these may help provide accurate predictions of what could hap-
pen to those archaeological sites in the future, which can, in turn,
help archaeologists develop reliable preservation and monitoring
plans. There are now several computer analysis software programs
that archaeologists can use to analyze data that was produced using
Computer Vision Photogrammetry. One of these programs is Cloud-
Compare, which can be used to support archaeological site analysis
and facilitate site monitoring.
As a brief introduction, CloudCompare is an open source 3D
point cloud analysis software. PhotoScan can export dense point
clouds in a variety of file formats. Some of the file formats, such as
ASTM E57 and ASPRS LAS files, are compatible between PhotoScan
and CloudCompare. If the photogrammetric model is georefer-
enced, the point cloud also automatically contains geographical
information, meaning that exported point clouds will open in the
correct location at the correct scale. CloudCompare’s greatest capa-
bility is deviation analysis; in other words, it can compare two
different point clouds and visualize the differences using colors.
Using this point analysis software, maritime archeologists are
able to track the progression of an excavation, both short-term
and long-term; helping them track the accumulation of sediments
Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
5
and other alterations that occur on archaeological sites through
the years, which can then assist with making predictions about the
near-future conditions of the site in terms of in situ preservation.
Furthermore, these deviation analyses can be used to monitor the
long-term condition of both excavated and unexcavated sites. To
conclude, using 3D data produced by Computer Vision Photogram-
metry and deviation analysis software, nautical archaeologists can
track the progression of excavations in order to understand both
the past and the future of shipwreck sites.
6. Results and discussion
One of the great benefits of using photogrammetry to record
shipwreck sites is that it can produce 1:1 scale constrained pho-
togrammetric models of shipwreck sites and replicate underwater
cultural heritage locations in real scale in digital format.
In 2001, the UNESCO agreed a Convention for Underwater Cul-
tural Heritage, after which the underwater archaeology community
took due note of the importance of in situ preservation and became
dedicated to implementing it. This convention promotes the pro-
tection of underwater cultural heritage sites; however, in situ
preservation is not a perfect solution in terms of protection. Archae-
ologists and governments must anticipate unexpected factors of
destruction. The Taliban, ISIS, and other extreme activists have
destroyed cultural heritage and museum displays in Syria and Iraq.
Natural disasters such as earthquakes, tsunamis and volcanic activ-
ity have also unexpectedly destroyed cultural heritage sites. For
underwater cultural heritage sites, the activities of treasure hunters
and net-dragging trawlers are always a major threat. Consequently,
we must consider some type of comprehensive protective strategy
along with in situ preservation. The authors strongly believe that
Computer Vision Photogrammetry is possibly the best solution. If
archaeologists can succeed in creating 1:1 scale constrained pho-
togrammetric models of underwater cultural heritage sites, their
G Model
CULHER-3320; No. of Pages 6 ARTICLE IN PRESS
6 E. Aragón et al. / Journal of Cultural Heritage xxx (2017) xxx–xxx
dimensions and textures can be recorded and will exist as long
as the data survives. Moreover, digital in situ preservation can
preserve cultural heritage in its current condition and can there-
fore be used for monitoring purposes. The idea of digital in situ
preservation is not meant to replace the strategy of actual in situ
preservation. Digital in situ preservation should be used as a safety
net for when in situ preservation fails. As long as we have the
data provided by 3D models and the textures of cultural heritage
sites, we can create 1:1 real scale restoration or replication should
destruction occur at some future time.
7. Conclusions
Recording any shipwreck site should not be limited to the study
of what happened to the shipwreck in the past and what is hap-
pening in the present. The proper analysis of a shipwreck site must
also encompass what could happen to the wreck in the future and a
management plan should be drawn up to deal with this. However,
this only becomes possible when the archaeologists have a clear
understanding of the wreck site and are producing comparisons
of other shipwreck sites based on several seasons of site recor-
ding and monitoring. The authors strongly recommend that digital
in situ preservation be used henceforth to protect our underwater
cultural heritage, including shipwrecks, from the potential effects
that shipwrecks at mid-depth can suffer by human activities.
Acknowledgement
Jordi Chias Pujol (Underwater Photographer).
Joseba Alberdi (Commercial Diver).
Jaume Ferrer (Commercial Diver.).
Mallorca Council (Cultural Heritage Department).
Cabrera Archipelago National Park.
Isurus (Diving Centre/Sponsor).
Trasmediterranea (Sponsor).
References
[1] J.M. Pons, M.M. Riera, M. Riera, Història i arqueologia de Cabrera, Palma Ciutat
Educativa, Collecció Eines, 2001.
[2] S. Munar, M.A. Sastre, La gestió del patrimoni subaquàtic a través d’un Sistema
d’Informació Geogràfica (SIG), Mayurqa 33 (2009) 263–281.
Please cite this article in press as: E. Aragón, et al., Underwater photogrammetric monitoring techniques for mid-depth shipwrecks,
Journal of Cultural Heritage (2017), https://doi.org/10.1016/j.culher.2017.12.007
[3] V.M.G. Ayuso, D. Colls, Exploraciones arqueológicas submarinas en la bocana
del puerto de Cabrera (Baleares), BSAL 39 (1982) 3–22.
[4] J. Mascaró, El tráfico marítimo en Mallorca en la antigüedad clásica, Actas Del
III Congreso Internacional de Arqueologia Subacuática, 1961.
[5] D. Cerdà, Hallazgos submarinos y relaciones mediterráneas, VI Symposium de
Prehistoria Peninsular, Barcelona, 1974.
[6] D. Cerdà, Una nau cartaginesa a Cabrera, Fonaments 1 (1978) 89–105.
[7] C. Veny, Diecisiete lingotes de plomo de una nave romana de Ses Salines
(Mallorca), Empúries 31 (1970) 191–219.
[8] C. Veny, Nuevos materiales del Moro Botí, Trabajos Prehist. 36 (1979) 466–488.
[9] C. Veny, Dos lingotes de plomo romanos, procedentes de la isla de Cabrera,
Trabajos Prehist. 37 (1980) 389–398.
[10] C. Veny, D. Cerdá, Materiales arqueológicos de dos pecios de la isla de Cabrera
(Baleares), Trabajos Prehist. 29 (1972) 298.
[11] J.R. De Arbulo, Rutas marítimas y colonizaciones en la Península Ibérica. Una
aproximación náutica a algunos problemas, Italica 18 (1990) 79.
[12] M. Bonifay, A. Tchernia, Les réseaux de la céramique africaine (Ier –Ve siècles),
in: Rome, Portus and the Mediterranean, The British School at Rome, Londres,
2012, pp. 315–333.
[13] M. Bonifay, Cargaisons africaines : reflet des entrepôts ? Antiq. Af. 43 (2007)
253–260.
[14] A.J. Parker, Ancient Shipwrecks of the Mediterranean and the Roman Provinces,
BAR Int. S. 580, Oxford, 1992.
[15] J.-P. Bost, M. Campo, D. Colls, L’épave“Cabrera III” (Majorque) : échanges com-
merciaux et circuits monétaires au milieu du IIIe siècle après Jésus-Christ,
Université de Bordeaux III, Centre Pierre, Paris, 1992.
[16] R. Torres, K. Yamafune, F. Castro, S. Ferreira, Mapping at depth: integrating
digital techniques for the archaeological investigation of historical shipwrecks,
Lat. Am. Arqueol. Hist. 11 (2017) 108–134.
[17] K. Yamafune, R. Torres, F. Castro, Multi-image photogrammetry to record and
reconstruct underwater shipwreck sites, J. Archaeol. Method Theory 24 (2017)
703–725, http://dx.doi.org/10.1007/s10816-016-9283-1.
[18] P.J. Katsioloudis, Breathing Like a Fish, Technol. Eng. Teach. 70 (2010) 6–10.
[19] B. Ford, W. Van Duivenvoorde, Perspectives from historical archaeology
and ACUA proceedings: maritime archaeology, in: Perspectives from his-
torical archaeology, Society for Historical Archaeology, Germantown, 2013,
pp. 9–15.
[20] R.D. Ballard, F.T. Hiebert, D.F. Coleman, C. Ward, J.S. Smith, K. Willis, B. Foley,
K. Croff, C. Major, F. Torre, Deepwater archaeology of the Black Sea: the 2000
season at Sinop, Turkey. Am. J. Archaeol. (2001) 607–623.
[21] I. Negueruela, R. Castillo, J.L. Sierra, J.I. Díaz, G. Bruque, J.I. Bermejo, El pecio
de Nuestra Señora de las Mercedes, in: Campaña de prospección y excavación
de agosto de 2015. Secretaría General Técnica, Centro de Publicaciones, 2015
[Ministerio de Educación, Cultura y Deporte].
[22] P. Throckmorton, The world’s worst investment, in: Maritime archaeology,
Springer, 1998, pp. 75–83.
[23] F. Søreide, Ships from the depths: deepwater archaeology, Texas A & M Uni-
versity Press, 2011.
[24] P. Drap, J. Seinturier, D. Scaradozzi, P. Gambogi, L. Long, F. Gauch, Photogram-
metry for virtual exploration of underwater archaeological sites, Proceedings
of the 21st International Symposium CIPA 1-6, 2007.
[25] T. Van Damme, Computer vision photogrammetry for underwater archaeo-
logical site recording in a low-visibility environment, Int. Arch. Photogramm.
Remote Sensing Spat. Info. Sci. 40 (2015) 231.