A Calibration Tool for Refractive Underwater Vision
CoRR(2024)
摘要
Many underwater robotic applications relying on vision sensors require proper
camera calibration, i.e. knowing the incoming light ray for each pixel in the
image. While for the ideal pinhole camera model all viewing rays intersect in a
single 3D point, underwater cameras suffer from - possibly multiple -
refractions of light rays at the interfaces of water, glass and air. These
changes of direction depend on the position and orientation of the camera
inside the water-proof housing, as well as on the shape and properties of the
optical window, the port, itself. In recent years explicit models for
underwater vision behind common ports such as flat or dome port have been
proposed, but the underwater community is still lacking a calibration tool
which can determine port parameters through refractive calibration. With this
work we provide the first open source implementation of an underwater
refractive camera calibration toolbox. It allows end-to-end calibration of
underwater vision systems, including camera, stereo and housing calibration for
systems with dome or flat ports. The implementation is verified using rendered
datasets and real-world experiments.
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