Perspective and non-perspective camera models in underwater imaging --- overview and error analysis
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Two-view underwater structure and motion for cameras under flat refractive interfaces
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
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Images of underwater scenes suffer from poor contrast. Water-induced contrast decay varies across the scene and is exponential in the depths of scene points, which prevents standard computer vision algorithms from operating properly. In this paper we show how to overcome this problem by adapting an existing model of light propagation in the (foggy) atmosphere to describe the behavior of light in liquid media. By integrating the resulting model within a dense stereo algorithm, we recover disparity maps of scenes immersed in water from pairs of images of these scenes acquired from distinct viewpoints. Experiments performed with real underwater images of various degrees of turbidity show that the use of a physically-based light-propagation model allows one to reconstruct underwater scenes more accurately than with standard stereo algorithms alone.