Table 2.

A sample of some published results for the precision of underwater camera calibrations. Note that [35] used observations of a mobile fish pen and the measurements used by [61] were made to the nearest whole pixel.

Technique	RMS Image Error (pixels)	RMS XYZ Error (mm)	Proportional Error
Absorption [47,73]	0.1–0.3	0.1–0.5	1:3000–1:15,000
Absorption [35]	0.3	40–200	1:500
Geometric correction [61]	1.0	10	1:210
Perspective shift [64]	0.3	2.0	1:1000
Absorption [40]	0.2–0.25	1.9	1:32,000