Underwater video mosaics as visual navigation maps
Computer Vision and Image Understanding - Special issue on underwater computer vision and pattern recognition
Numerical Recipes in C++: the art of scientific computing
Numerical Recipes in C++: the art of scientific computing
A Pupil-Centric Model of Image Formation
International Journal of Computer Vision
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Visual methods for three-dimensional modeling
Visual methods for three-dimensional modeling
SIBGRAPI '04 Proceedings of the Computer Graphics and Image Processing, XVII Brazilian Symposium
The Raxel Imaging Model and Ray-Based Calibration
International Journal of Computer Vision
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Underwater 3D Mapping: Experiences and Lessons learned
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Opti-acoustic stereo imaging: on system calibration and 3-D target reconstruction
IEEE Transactions on Image Processing
Journal of Field Robotics - Three-Dimensional Mapping, Part 3
Three-dimensional measurement of objects in water by using space encoding method
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stereo Based Structure Recovery of Underwater Scenes from Automatically Restored Images
SIBGRAPI '09 Proceedings of the 2009 XXII Brazilian Symposium on Computer Graphics and Image Processing
Stereo reconstruction of a submerged scene
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
Multi-view 3D reconstruction for scenes under the refractive plane with known vertical direction
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
Hi-index | 0.00 |
When capturing images underwater, image formation is affected in two major ways. First, the light rays traveling underwater are absorbed and scattered depending on their wavelength, creating effects on the image colors. Secondly, the glass interface between air and water refracts the ray entering the camera housing because of a different index of refraction of water, hence the ray is also affected in a geometrical way. This paper examines different camera models and their capabilities to deal with geometrical effects caused by refraction. Using imprecise camera models leads to systematic errors when computing 3D reconstructions or otherwise exploiting geometrical properties of images. In the literature, many authors have published work on underwater imaging by using the perspective pinhole camera model (single viewpoint model - SVP) with a different effective focal length and distortion to compensate for the error induced by refraction at the camera housing. On the other hand, methods were proposed, where refraction is modeled explicitly or where generic, non-single-view-point camera models are used. In addition to discussing all three model categories, an accuracy analysis of using the perspective model on underwater images is given and shows that the perspective model leads to systematic errors that compromise measurement accuracy.