Unified Underwater Structure-from-Motion
This work addresses the challenge of underwater imaging for applications like marine robotics or archaeology, but it appears incremental as it builds on existing structure-from-motion methods by incorporating refractive effects.
The paper tackles the problem of underwater 3D shape reconstruction using a single camera through a refractive interface, achieving accurate results with unified techniques for various scenarios, including static or moving cameras and interfaces, and outperforming existing methods in real-data experiments.
This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single static camera and moving refractive interface, single moving camera and static refractive interface, and single moving camera and moving refractive interface. In our basic setup, we assume that the refractive interface is planar, and simultaneously estimate the unknown transformations of the planar interface and the camera, and the unknown target shape using bundle adjustment. We also extend it to relax the planarity assumption, which enables us to use waves of the refractive interface for the reconstruction task. Experiments with real data show the superiority of our method to existing methods.