3D-Modelling of seafloor structures from ROV-based video sequences

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In underwater imaging and underwater 3D reconstruction, most researchers still use the perspective camera model, even though refraction at the glass interface of the underwater housing occurs [SK11]. It can easily be shown, that the single-view-point camera model (SVP model) is invalid due to refractive effects. Even though this has been known for a while, no Structure-from-Motion system (SfM system) explicitly models refraction effects. Therefore, the overall goal of this project is to evaluate the use of refractive image formation and to compare it to the classical perspective SfM approaches. Preliminary studies and our results of the first project phase already indicated that the systematic model error caused by using the perspective camera model leads to a pose estimation error, when reconstructing the camera path of an underwater image sequence [SK11]. We expect that the correct physical modeling of refractive image formation will lead to improved camera models that will eliminate the systematic errors in perspective 3D modeling. The resulting 3D models can then be used for improved volumetric measurements of seafloor structures.