Underwater 3D Photometry - Second World War era Valentine Tank

Something I have been working on for a while now is underwater 3D photometry.

The subject are a pair of WW2 era Valentine Tanks. Used extensively by the allies, these are duplex drive (DD) variants designed for amphibious landings. These examples were lost during Exercise Smash in 1944, a training exercise leading up to D-Day. A further 5 tanks were lost and sadly six of their crew drowned.

The models are derived from around 700 individual frames, all shot on one dive:-

Firstly, the intact example:-

https://sketchfab.com/models/4f755bb9f4d74e98aa34bf40dc1d31fc

Secondly, the damaged example:-

https://sketchfab.com/models/2f76cf180a8c4dd184515d2fbeeb64bf

The tanks are annotated to highlight a few of their features.

Living in the future is pretty awesome.

Nice work!

Fascinating - I think - but I don't know anything about this process. Where can I read a beginner's intro? I am really interested in how the individual images are rectified against a single object.