Two-view underwater 3D reconstruction for cameras with unknown poses under flat refractive interfaces

作者：

Highlights：

• The refractive distortion and epipolar errors are analyzed in detail using simulations.

• A new hybrid optimization framework for two-view underwater calibration with local sliding (LS) procedure based on bundle adjustment.

• A new fully automatic method for two-view underwater structure and motion estimation.

• The accuracy of 3D reconstruction is evaluated quantitatively by comparing the results to ground truth 3D models.

• The influence of non-zero thickness and non-parallel interface on 3D reconstruction is studied experimentally.

摘要

•The refractive distortion and epipolar errors are analyzed in detail using simulations.•A new hybrid optimization framework for two-view underwater calibration with local sliding (LS) procedure based on bundle adjustment.•A new fully automatic method for two-view underwater structure and motion estimation.•The accuracy of 3D reconstruction is evaluated quantitatively by comparing the results to ground truth 3D models.•The influence of non-zero thickness and non-parallel interface on 3D reconstruction is studied experimentally.

论文关键词：Structure and Motion (SaM),Refractive distortion,Underwater calibration,Underwater 3D reconstruction,Hybrid optimization

论文评审过程：Received 28 June 2016, Revised 16 March 2017, Accepted 4 April 2017, Available online 21 April 2017, Version of Record 2 May 2017.

论文官网地址：https://doi.org/10.1016/j.patcog.2017.04.006