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Refractive Two-View Reconstruction for Underwater 3D Vision
International Journal of Computer Vision ( IF 19.5 ) Pub Date : 2019-11-18 , DOI: 10.1007/s11263-019-01218-9 François Chadebecq , Francisco Vasconcelos , René Lacher , Efthymios Maneas , Adrien Desjardins , Sébastien Ourselin , Tom Vercauteren , Danail Stoyanov
International Journal of Computer Vision ( IF 19.5 ) Pub Date : 2019-11-18 , DOI: 10.1007/s11263-019-01218-9 François Chadebecq , Francisco Vasconcelos , René Lacher , Efthymios Maneas , Adrien Desjardins , Sébastien Ourselin , Tom Vercauteren , Danail Stoyanov
Recovering 3D geometry from cameras in underwater applications involves the Refractive Structure-from-Motion problem where the non-linear distortion of light induced by a change of medium density invalidates the single viewpoint assumption. The pinhole-plus-distortion camera projection model suffers from a systematic geometric bias since refractive distortion depends on object distance. This leads to inaccurate camera pose and 3D shape estimation. To account for refraction, it is possible to use the axial camera model or to explicitly consider one or multiple parallel refractive interfaces whose orientations and positions with respect to the camera can be calibrated. Although it has been demonstrated that the refractive camera model is well-suited for underwater imaging, Refractive Structure-from-Motion remains particularly difficult to use in practice when considering the seldom studied case of a camera with a flat refractive interface. Our method applies to the case of underwater imaging systems whose entrance lens is in direct contact with the external medium. By adopting the refractive camera model, we provide a succinct derivation and expression for the refractive fundamental matrix and use this as the basis for a novel two-view reconstruction method for underwater imaging. For validation we use synthetic data to show the numerical properties of our method and we provide results on real data to demonstrate its practical application within laboratory settings and for medical applications in fluid-immersed endoscopy. We demonstrate our approach outperforms classic two-view Structure-from-Motion method relying on the pinhole-plus-distortion camera model.
中文翻译:
用于水下 3D 视觉的折射两视重建
在水下应用中从相机恢复 3D 几何体涉及运动折射结构问题,其中由介质密度变化引起的非线性光失真使单视点假设无效。针孔加畸变相机投影模型存在系统几何偏差,因为折射畸变取决于物距。这会导致不准确的相机姿势和 3D 形状估计。为了考虑折射,可以使用轴向相机模型或明确考虑一个或多个平行折射界面,其相对于相机的方向和位置可以校准。尽管已经证明折射相机模型非常适合水下成像,考虑到很少研究的相机具有平坦折射界面的情况时,来自运动的折射结构在实践中仍然特别难以使用。我们的方法适用于入口镜头与外部介质直接接触的水下成像系统。通过采用折射相机模型,我们为折射基本矩阵提供了一个简洁的推导和表达式,并将其作为一种新的水下成像两视图重建方法的基础。为了验证,我们使用合成数据来显示我们方法的数值特性,并提供真实数据的结果,以证明其在实验室环境中的实际应用以及在流体浸入式内窥镜检查中的医疗应用。
更新日期:2019-11-18
中文翻译:
用于水下 3D 视觉的折射两视重建
在水下应用中从相机恢复 3D 几何体涉及运动折射结构问题,其中由介质密度变化引起的非线性光失真使单视点假设无效。针孔加畸变相机投影模型存在系统几何偏差,因为折射畸变取决于物距。这会导致不准确的相机姿势和 3D 形状估计。为了考虑折射,可以使用轴向相机模型或明确考虑一个或多个平行折射界面,其相对于相机的方向和位置可以校准。尽管已经证明折射相机模型非常适合水下成像,考虑到很少研究的相机具有平坦折射界面的情况时,来自运动的折射结构在实践中仍然特别难以使用。我们的方法适用于入口镜头与外部介质直接接触的水下成像系统。通过采用折射相机模型,我们为折射基本矩阵提供了一个简洁的推导和表达式,并将其作为一种新的水下成像两视图重建方法的基础。为了验证,我们使用合成数据来显示我们方法的数值特性,并提供真实数据的结果,以证明其在实验室环境中的实际应用以及在流体浸入式内窥镜检查中的医疗应用。