## 1 Introduction
### Previous Works  
Underwater surveys, such as those of riverbeds and coastal seabeds, can also be conducted using UAV photogrammetric techniques [29; 30]. Furthermore, these photogrammetric techniques can be used instead of bathymetric mapping techniques by employing echo sounders and satellites in clear and shallow waters [31; 32]. This facilitates an understanding of the representation of the surface of the marine relief, which can be used for biodiversity studies aimed at understanding the routes taken by aquatic animals, to determine the boundaries of preservation areas, or to facilitate the exploitation of natural resources [33; 34]. In other research, the use of the WorldView-2 stereo pair was proposed as an alternative to the different methods of satellite-derived bathymetry to extract bathymetric information [35; 36]. The process consists of four steps: photogrammetric extraction, error and noise removal, refraction correction, and reference reduction. The study area for this research was Harbor Coral, Canada. The Canadian Hydrographic Service provided specific depth measurements for the validation process. The results showed a mean error of 0.031 m and an RMSE of 1.178 m.  
A new approach to address failures of other correction techniques for SfM data collection [37] was analyzed in two study areas; the controlled area was a pool with shallow water, approximately 15 cm, and 1.2 m in diameter, filled with coarse gravel, and the fieldwork was carried out in the Blanco River in Vermont. The proposed approach obtained an accuracy of approximately 0.02%. However, it works efficiently with unobstructed water. Later, a satellite-derived bathymetry photogrammetric technique [38] was applied to five study areas in the Canadian Arctic with varying background and surface conditions using the WorldView-2 stereo pair. An RMSE between 0.78 m and 1.16 m was obtained at 12 m. It was concluded from the experiments that to carry them out successfully the sea floor should not present many obstructions and be as flat as possible. Other research has evaluated the feasibility of using satellite-derived bathymetry in shallow waters. The selected study areas were the Ganquan and Zhaoshu islands in China, where the water can be up to 20 m deep in certain areas. The investigation concluded with an RMSE of 2.09 m for Ganquan Island and an RMSE of 1.76 m for Zhaoshu Island [39]. In addition, [40] compared two techniques that incorporated the satellite-derived bathymetry stereo photogrammetry approach, automatic digital surface modeling, and manual 3D to assess the accuracy of seabed estimations in an area with shallow water near Cambridge Bay, Nunavut, in the Canadian Arctic. The manual 3D technique obtained an RSME no greater than 1.88 m for depths up to 12 m. The automatic technique showed an RSME of up to 4 m in shallow water. Table 1 presents a summary of the previous works consulted. Although determining water depths using photogrammetry can be a more efficient and less expensive process than using a traditional method in surface or shallow waters [31; 37], the photogrammetric technique used in bathymetry must account for different external environmental and water-related factors [41]. These factors include weather [42; 43], luminosity [44; 45], refraction [46; 47], and water turbidity [37; 48], which may influence the quality of aerial images and the performance of the UAV, resulting in different error margins in the results of the bathymetry representation for certain aquatic surfaces [49]. Climatic variables, such as precipitation, air temperature, solar radiation, and wind speed, influence the quality of photographs taken during drone flights [50; 51]. Illuminance is the total luminous flux incident on a surface, measured in lux [51; 52]. Because radical changes in outdoor brightness can cause poor accuracy or a loss of information [49], this factor is important in photography and video recording as it enables the adjustment of camera parameters to obtain the best possible image quality [53].