Underwater Structure from Motion for Cameras Under Refractive Surfaces
Underwater Structure from Motion for Cameras Under Refractive Surfaces
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DOI：
10.20965/jrm.2019.p0603
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发表时间：
2019-08
期刊：
影响因子：
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通讯作者：
Xiaorui Qiao;A. Yamashita;H. Asama
中科院分区：
文献类型：
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作者：
Xiaorui Qiao;A. Yamashita;H. Asama
运动恢复结构（SfM）作为一种三维重建技术，可以通过使用单个运动相机来估计物体的结构。部署在水下环境中的相机通常被限制在防水外壳中。因此，进入相机的光线被折射两次;一次在水和相机外壳之间的界面处，并且再次在相机外壳和空气之间的界面处。从水下环境中的场景捕获的图像容易因这种折射引起的失真而恶化。如果不适当地解决折射畸变，将导致几何重建中的严重畸变。在这里，我们提出了一种SfM方法来处理在相机系统中的折射，包括折射表面。光折射的影响在折射模型中被精确地建模。在此基础上，提出了一种新的标定和摄像机位姿估计方法。所提出的方法有助于使用折射相机系统进行精确的3D重建。仿真和真实的图像实验表明，该方法能够实现精确的重建，并有效地减少了传统SfM的折射畸变。
Structure from Motion (SfM), as a three-dimensional (3D) reconstruction technique, can estimate the structure of an object by using a single moving camera. Cameras deployed in underwater environments are generally confined to waterproof housings. Thus, the light rays entering the camera are refracted twice; once at the interface between the water and the camera housing, and again at the interface between the camera housing and air. Images captured from scenes in underwater environments are prone to, and deteriorate, from distortion caused by this refraction. Severe distortions in geometric reconstruction would be caused if the refractive distortion is not properly addressed. Here, we propose a SfM approach to deal with the refraction in a camera system including a refractive surface. The impact of light refraction is precisely modeled in the refractive model. Based on the model, a new calibration and camera pose estimation method is proposed. This proposed method assists in accurate 3D reconstruction using the refractive camera system. Experiments, including simulations and real images, show that the proposed method can achieve accurate reconstruction, and effectively reduce the refractive distortion compared to conventional SfM.