Refractive 3D reconstruction on underwater images

Jordt, Anne, Köser, Kevin and Koch, R. (2016) Refractive 3D reconstruction on underwater images Methods in Oceanography, 15-16 . pp. 90-113. DOI 10.1016/j.mio.2016.03.001.

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Supplementary data:

Abstract

Highlights

• Complete 3D reconstruction system from images and videos.
• Refractive Structure from Motion for flat port underwater cameras.
• Eliminates systematic modeling error caused by using perspective camera model.

Cameras can be considered measurement devices complementary to acoustic sensors when it comes to surveying marine environments. When calibrated and used correctly, these visual sensors are well-suited for automated detection, quantification, mapping, and monitoring applications and when aiming at high-accuracy 3D models or change detection. In underwater scenarios, cameras are often set up in pressure housings with a flat glass window, a flat port, which allows them to observe the environment. In this contribution, a geometric model for image formation is discussed that explicitly considers refraction at the interface under realistic assumptions like a slightly misaligned camera (w.r.t. the glass normal) and thick glass ports as common for deep sea applications. Then, starting from camera calibration, a complete, fully automated 3D reconstruction system is discussed that takes an image sequence and produces a 3D model. Newly derived refractive estimators for sparse two-view geometry, pose estimation, bundle adjustment, and dense depth estimation are discussed and evaluated in detail.

Document Type: Article
Keywords: Underwater reconstruction, Refraction, Flat port, Structure-from-Motion, Plane sweep, 3D model
Research affiliation: OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems
Kiel University > Kiel Marine Science
OceanRep > The Future Ocean - Cluster of Excellence
OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems > DeepSea Monitoring
Kiel University
Refereed: Yes
DOI etc.: 10.1016/j.mio.2016.03.001
ISSN: 2211-1220
Projects: Future Ocean
Contribution Number:
ProjectNumber
["eprint_fieldopt_contribution_number_project_DSM" not defined]17
Date Deposited: 13 Dec 2016 08:07
Last Modified: 05 Jan 2018 04:46
URI: http://eprints.uni-kiel.de/id/eprint/35191

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