Absolute Scale Structure-from-Motion on Underwater Images with a Monocular Camera

摘要

Structure-from-Motion is a technique for estimating 3D structures from 2D image. Due to different refractive index of mediums, the light ray will bend during the underwater imaging process, making the perspective camera model invalid. In this paper we set a camera fixed in a glass housing and use a virtual camera geometry relationship to describe the imaging process, it’s analyzed that the relative camera transform between two images can be recovered and the 3D object points can be reconstructed with absolute scale. Under different thickness of refractive plane, synthetic reconstruction experiments are conducted and the result demonstrates good performance of proposed method.