Selected Publications

P Schöntag, D Nakath, J Fischer, R Röttgers, K Köser
Optical Ocean Recipes: Creating Realistic Data Sets to Facilitate Underwater Vision Research
IEEE Journal of Oceanic Engineering, 2026
doi: 10.1109/JOE.2026.3692005
Data & Code

James Pritts, Till Sittart, Hendrik Sauer, Silja Janßen, Felix Seegräber, David Nakath, Kevin Köser
BlobBoards: Robust Markers for Accurate Pose
Accepted for British Machine Vision Conference 2026
Project Page

Mengkun She, Felix Seegräber, David Nakath, Patricia Schöntag, Kevin Köser
Relative Illumination Fields: Learning Medium and Light Independent Underwater Scenes
International Conference on Computer Vision 2025
Project Page

Felix Seegräber, Mengkun She, Felix Woelk, Kevin Köser:
A Calibration Tool for Refractive Underwater Vision

ICCV-Workshop on Marine Vision 2025
Project Page

H. Wang, K. Köser and P. Ren
Large Foundation Model Empowered Discriminative Underwater Image Enhancement
IEEE Transactions on Geoscience and Remote Sensing, vol. 63, pp. 1-17, 2025, Art no. 5609317,
doi: 10.1109/TGRS.2025.3525962

Janßen, S., Oumeslakht, M., Köser, K.
Temporally Consistent Smoke Removal from Endoscopic Video Images.
In: Ali, S., Hogg, D.C., Peckham, M. (eds) Medical Image Understanding and Analysis. MIUA 2025. Lecture Notes in Computer Science, vol 15917. Springer, Cham.
https://doi.org/10.1007/978-3-031-98691-8_21

M.She, Y.Song, D.Nakath, K.Köser:
Semi-Hierarchical Reconstruction and Weak-area Revisiting for Robotic Visual Seafloor Mapping.
Journal of Field Robotics. Wiley, 2024

Open Access Article

M.She, F.Seegräber, D.Nakath, K.Köser:
Refractive COLMAP: Refractive Structure-from-Motion Revisited
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
Project Page

Y. Song, M.She, K.Köser:
Advanced Underwater Image Restoration in Complex Illumination Conditions.
ISPRS Journal of Photogrammetry and Remote Sensing, Volume 209, Pages 197-212, Elsevier, 2024.
DOI 10.1016/j.isprsjprs.2024.02.004
Open Access Article

K. Köser, M. She, N. Diller, S. Reissmann, T. Weiß, K. Heger, Y. Song, P. Schöntag, D. Nakath, T. Schoening, J. Mohrmann, I. Gazis, M. Kampmeier, M.Rothenbeck, E. Wenzlaff, J. Greinert:
Autonomous Visual 3D Mapping of the Ocean Floor by Underwater Robots Equipped with a Single Photo Camera.
In: Rodríguez-Quiñonez et al. (eds) Scanning Technologies for Autonomous Systems. Springer, 2024
DOI 10.1007/978-3-031-59531-8_3

D. Nakath, X. Weng, M. She, K. Köser:
Visual Tomography: Physically Faithful Volumetric Models of Partially Translucent Objects.
IEEE Conference on 3D Vision (3DV 2024), Davos, Switzerland, 2024 pp. 1605-1615.
DOI: 10.1109/3DV62453.2024.00159

F.Seegräber, P.Schöntag, F.Woelk, K. Köser:
Underwater Multiview Stereo Using Axial Camera Models.
In: Köthe, U., Rother, C. (eds) Pattern Recognition. DAGM GCPR 2023. Lecture Notes in Computer Science, vol 14264. SpringerDOI 10.1007/978-3-031-54605-1_18

Achterberg, E. , Andresen, C., Beck, A., Brenner, M., Böttcher, C., Cumming, A., Czub, M., Frey, T., Kammann, U., Kampmeier, M., Koschinski, S., Koske, D., Köser, K., Lang, T., Lastumäki, A., Lehtonen, K., Lundgreen, K., Lindgren, F., Lyjak, J., Martinaviciute, J., Maser, E., Missiaen, T., Mätik, M., Müller, P., Niemikoski, H., Scharsack, J., Straumer, K., Strehse, J., Traxl, J. und Wichert, U. and Baltic Marine Environment Protection Commission:
Thematic assessment on Hazardous Submerged Objects in the Baltic Sea (Submerged Assessment - Warfare Materials in the Baltic Sea). ed. by Frey, T., Czub, M., Beldowski, J. and Meski, L. Helsinki Commission – HELCOM, Helsinki, Finland, 2024.[HELCOM Report]

M. Grimaldi, D. Nakath, M. She, and K. Köser:
Investigation of the Challenges of Underwater-Visual-Monocular-SLAM.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., X-1/W1-2023, 1113–1121
[preprint]

B. Winkel, D. Nakath, F. Woelk and K.Köser:
Design, Implementation, and Evaluation of an External Pose-Tracking System for Underwater Cameras.
PFG – Journal of Photogrammetry, Remote Sensing and Geoinformation Science, Springer, 2023
DOI 10.1007/s41064-023-00263-x

M. She, T.Weiss, Y.Song, P.Urban, J.Greinert, K.Köser:
Marine Bubble Flow Quantification Using Wide-Baseline Stereo Photogrammetry.
ISPRS Journal on Photogrammetry and Remote Sensing, Elsevier, 2022
DOI 10.1016/j.isprsjprs.2022.06.014 [Open Access Article]

P. Schöntag, D. Nakath, S.Röhrl, K.Köser:
Towards Cross Domain Transfer Learning for Underwater Correspondence Search.
Computer Vision for Coastal and Marine Environment Monitoring,
Lecture Notes in Computer Science 13233, Springer, 2022

D.Nakath, M.She, Y.Song, K.Köser:
An Optical Digital Twin for Underwater Photogrammetry.
Journal of Photogrammetry, Remote Sensing and Geoinformation Science (90), pp. 69–81, Springer, 2022,
doi 10.1007/s41064-021-00190-9

[Open Access Article]   [GEODT Supplementary Material and Toolkit]

M.She, D.Nakath, Y.Song, K.Köser:
Refractive Geometry for Underwater Domes.
ISPRS Journal of Photogrammetry and Remote Sensing, Volume 183, Pages 525-540, Elsevier, 2022.
doi 10.1016/j.isprsjprs.2021.11.006

[Open Access Article]

X.Weng, M.She, D.Nakath, K.Köser:
MaCal: Macro Lens Calibration and the Focus Stack Camera Model.
International Conference on 3D Vision (3DV). IEEE, 2021
doi: 10.1109/3DV53792.2021.00024
[Presentation Video] [Preprint Version] 

D.Nakath, M.She, Y. Song, K.Köser:
In-Situ Joint Light and Medium Estimation for Underwater Color Restoration.
In: Computer Vision in the Ocean WS, International Conference on Computer Vision. IEEE, 2021. doi: 10.1109/ICCVW54120.2021.00416
[Open Access Version by the Computer Vision Foundation]

H. Liu, J. Büscher, K. Köser, J. Greinert, H. Song, Y. Chen, T. Schoening:
Automated Activity Estimation of the Cold-Water Coral Lophelia pertusa by Multispectral Imaging and Computational Pixel Classification.
Journal of Atmospheric and Oceanic Technology 38, 2, 141-154,
doi 10.1175/JTECH-D-19-0139.1

K.Köser:
Affine Registration.
In: Ikeuchi K. (eds) Computer Vision. Springer, Cham, 2021.
doi 10.1007/978-3-030-03243-2_122-1

Y.Song, J.Sticklus, D.Nakath, E.Wenzlaff, R.Koch, K.Köser:
Optimization of Multi-LED Setups for Underwater Robotic Vision Systems.
In: Pattern Recognition. Lecture Notes in Computer Science 12662. Springer, Cham.
doi: 10.1007/978-3-030-68790-8_30

N. Shivasvamy, T.Kwasnitschka, K.Köser:
Learning Free Space Detection for Deep Diving Robots.
In: Pattern Recognition. Lecture Notes in Computer Science 12662. Springer, Cham.
doi 10.1007/978-3-030-68790-8_31

 F. Gausepohl, A. Hennke, T. Schoening, K. Köser, and J. Greinert:
Scars in the abyss: reconstructing sequence, location and temporal change of the 78 plough tracks of the 1989 DISCOL deep-sea disturbance experiment in the Peru Basin.
Biogeosciences, 17, 1463–1493, 2020,
doi 10.5194/bg-17-1463-2020

K.Köser, U.Frese:
Challenges in Underwater Vision and SLAM.
In: AI Technology for Underwater Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 96. Springer, Cham.
doi 10.1007/978-3-030-30683-0_11

She M., Song Y., Mohrmann J., Köser K.:
Adjustment and Calibration of Dome Port Camera Systems for Underwater Vision.
In: Fink G., Frintrop S., Jiang X. (eds) Pattern Recognition. DAGM GCPR 2019. Lecture Notes in Computer Science, vol 11824. Springer, Cham
doi 10.1007/978-3-030-33676-9_6

Hongbo Liu, Jan Sticklus, Kevin Köser, Henk-Jan T. Hoving, Hong Song, Ying Chen, Jens Greinert, and Timm Schoening:
TuLUMIS - a tunable LED-based underwater multispectral imaging system,
Optics Express 26, 7811-7828 (2018). Optical Society of America.
doi: 10.1364/OE.26.007811

Urban, P., Köser, K. and Greinert, J.
Processing of multibeam water column image data for automated bubble/seep detection and repeated mapping. Limnol. Oceanogr. Methods. 2016
doi: 10.1002/lom3.10138

Anne Jordt, Kevin Köser, Reinhard Koch:
Refractive 3D reconstruction on underwater images
Methods in Oceanography, Volumes 15–16, April–July 2016, Pages 90-113, ISSN 2211-1220,
doi 10.1016/j.mio.2016.03.001