Refractive forward projection for underwater flat port cameras

Alexander Duda; Christopher Gaudig

IROS 2016poster5 citations

Refractive forward projection for underwater flat port cameras

Abstract

Geometric distortion associated with underwater flat port housings considerably affects the accuracy of scene depth and visual pose estimation. To compensate for this, a new solution for the forward projection is proposed based on the refractive camera model and Taylor expansion. This allows for an easy integration of the flat refractive camera model into non-linear optimization problems like bundle adjustment.

BibTeX

@inproceedings{iros2016_refractiveforwar,
  title = {Refractive forward projection for underwater flat port cameras},
  author = {Alexander Duda and Christopher Gaudig},
  booktitle = {IROS 2016},
  year = {2016}
}