Abstract: The utilization of underwater vehicles in the inspection of underwater structural diseases can lead to significant improvements in efficiency and reduction in inspection costs. However, the images taken by underwater vehicles only contain limited information about the surface of the structure. 3D reconstruction of underwater structures enables the visualization of the spatial configuration and characteristics of the structure, providing apparent diseases information from multiple perspectives and directions. In this paper, a method for 3D reconstruction of underwater concrete structures based on planar images captured by underwater vehicle is proposed. The 3D reconstruction of underwater concrete structures with diseases is achieved through the application of an underwater refractive camera model, SIFT feature extraction and matching algorithm, and point cloud reconstruction. The results show that the 3D reconstruction method proposed in this paper for underwater concrete structures can achieve a 3D display of diseases and provide clear acquisition of underwater structural surface disease information from various perspectives.