Abstract
An approximate understanding of horizontal visibility is essential for divers and operators of underwater Remote Operated Vehicles (ROVs). Recently there have been a substantial number of underwater viewing systems which rely on either passive or active imaging and thus require good visibility. In this paper, a practical estimate of the horizontal visibility range for an object is developed using a Single photon avalanche diode (SPAD) camera and Secchi disk (SD). Also, a modified version of the visibility equation is given. Both of these results are from analyzing measurements from a series of indoor and outdoor measurements in sea water. We observe that the horizontal visibility can vary from 0.8x to 1.24x the SD depth values. Thus with a single SD depth measurement, horizontal visibility can be estimated. This can then guide the decision about the appropriate camera mode that can be used in the operation of a ROV at specific location (e.g. seas, lakes, rivers).
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