Two-View Underwater Structure and Motion for Cameras under Flat Refractive Interfaces

Refractive Structure-from-Motion Through a Flat Refractive Interface

“…The method leads to promising results but requires camera's motion to be partly known, for example thanks to an additional sensor such as an intertial measurement unit (IMU). Assuming a stereo rig and camera rotation is known, [17] provide with an optimal solution to the relative translation problem under L ∞ norm. This method can be extended to unknown rotations assuming a thin refractive plane parallel to both image plane of the cameras.…”

A Pixel-Wise Varifocal Camera Model for Efficient Forward Projection and Linear Extrinsic Calibration of Underwater Cameras with Flat Housings

“…However, flat surface housings are also popular because of the cost, and also because of the fact that regular cameras capturing objects in a water tank via its flat surface are equivalent to underwater cameras with flat surface housings. In the context of refractions by flat surfaces [1,6,10], Agrawal et al [1] have proposed a novel calibration technique based on the axial camera model which estimates the exact model parameters of the refraction such as the thickness of the refractive surface and its refractive indices w.r.t. water and the air, etc.…”

3D Shape from Silhouettes in Water for Online Novel-view Synthesis

“…One straightforward approach is to model the geometry of the refractive layers as is [3], [10]. This can provide physically meaningful models of projection, but has two limitations.…”