  Hyperspectral imaging has been increasingly used for underwater survey
applications over the past years. As many hyperspectral cameras work as
push-broom scanners, their use is usually limited to the creation of
photo-mosaics based on a flat surface approximation and by interpolating the
camera pose from dead-reckoning navigation. Yet, because of drift in the
navigation and the mostly wrong flat surface assumption, the quality of the
obtained photo-mosaics is often too low to support adequate analysis.In this
paper we present an initial method for creating hyperspectral 3D
reconstructions of underwater environments. By fusing the data gathered by a
classical RGB camera, an inertial navigation system and a hyperspectral
push-broom camera, we show that the proposed method creates highly accurate 3D
reconstructions with hyperspectral textures. We propose to combine techniques
from simultaneous localization and mapping, structure-from-motion and 3D
reconstruction and advantageously use them to create 3D models with
hyperspectral texture, allowing us to overcome the flat surface assumption and
the classical limitation of dead-reckoning navigation.
