Refractive Two-View Reconstruction for Underwater 3D Vision.
Refractive Two-View Reconstruction for Underwater 3D Vision.
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DOI：
10.1007/s11263-019-01218-9
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发表时间：
2020
影响因子：
19.5
通讯作者：
Stoyanov D
中科院分区：
文献类型：
--
作者：
Chadebecq F;Vasconcelos F;Lacher R;Maneas E;Desjardins A;Ourselin S;Vercauteren T;Stoyanov D
在水下应用中从相机恢复3D几何形状涉及到运动折射结构问题，其中由介质密度变化引起的光的非线性失真使单视点假设失效。针孔加失真相机投影模型遭受系统的几何偏差，因为折射失真取决于物距。这导致不准确的相机姿态和3D形状估计。为了考虑折射，可以使用轴向相机模型或明确考虑一个或多个平行折射界面，其相对于相机的取向和位置可以被校准。虽然已经证明折射相机模型非常适合于水下成像，但当考虑到很少研究的具有平坦折射界面的相机的情况时，从运动折射结构仍然特别难以在实践中使用。我们的方法适用于水下成像系统的情况下，其入口透镜是在直接接触的外部介质。采用折射相机模型，给出了折射基本矩阵的简洁推导和表达式，并以此为基础提出了一种新的水下成像两视重建方法。为了验证，我们使用合成数据来显示我们的方法的数值特性，我们提供了真实的数据的结果，以证明其在实验室环境中的实际应用和流体浸没内窥镜的医疗应用。我们证明了我们的方法优于经典的两个视图的结构从运动的方法依赖于针孔加失真相机模型。
Recovering 3D geometry from cameras in underwater applications involves the Refractive Structure-from-Motion problem where the non-linear distortion of light induced by a change of medium density invalidates the single viewpoint assumption. The pinhole-plus-distortion camera projection model suffers from a systematic geometric bias since refractive distortion depends on object distance. This leads to inaccurate camera pose and 3D shape estimation. To account for refraction, it is possible to use the axial camera model or to explicitly consider one or multiple parallel refractive interfaces whose orientations and positions with respect to the camera can be calibrated. Although it has been demonstrated that the refractive camera model is well-suited for underwater imaging, Refractive Structure-from-Motion remains particularly difficult to use in practice when considering the seldom studied case of a camera with a flat refractive interface. Our method applies to the case of underwater imaging systems whose entrance lens is in direct contact with the external medium. By adopting the refractive camera model, we provide a succinct derivation and expression for the refractive fundamental matrix and use this as the basis for a novel two-view reconstruction method for underwater imaging. For validation we use synthetic data to show the numerical properties of our method and we provide results on real data to demonstrate its practical application within laboratory settings and for medical applications in fluid-immersed endoscopy. We demonstrate our approach outperforms classic two-view Structure-from-Motion method relying on the pinhole-plus-distortion camera model.
影响因子：
2
作者：
Calkins, Hugh;Hindricks, Gerhard;Yamane, Teiichi
通讯作者：
Yamane, Teiichi
影响因子：
1.9
作者：
Kang, Lai;Wu, Lingda;Yang, Yee-Hong
通讯作者：
Yang, Yee-Hong
DOI：
10.1023/b:visi.0000043754.56350.10
发表时间：
2005-02-01
影响因子：
19.5
作者：
Grossberg, MD;Nayar, SK
通讯作者：
Nayar, SK