Why 3D Reconstruction Breaks Down on Under-Ice AUV Video, and How to Predict It

Ana-Ştefania Kogălniceanu, Klára Orbán, Ashwin Nedungadi, Stefan Lüdtke, Kuderna-Iulian Benţa

Reconstruction of 3D structures using under-ice AUV video footage has been inaccurate, although it is not certain whether this is due to shortcomings in the methods or an inherent deficiency of the capture system. We test four different models for reconstruction on the same Antarctic under-ice AUV video (Icefin, Kamb Ice Stream): classical feature matching SfM, differentiable photometric splatting, volumetric depth fusion, and a pose-free feed-forward foundation model. All four fail, each in a distinct way: near-total registration yielding almost no structure, geometrically broken output despite healthy photometric metrics, a persistent coverage artifact, and unstable cross-chunk scale. We show that all four are consistent with the same capture regime, a small camera-baseline-to-scene-depth ratio. Following our analysis, we propose a detection system that flags this type of failure in minutes, rather than hours of wasted compute.