Many underwater robotic applications relying on vision sensors require proper camera calibration, i.e. knowing the incoming light ray for each pixel in the image. While for the ideal pinhole camera model all viewing rays intersect in a single 3D point, underwater cameras suffer from - possibly multiple - refractions of light rays at the interfaces of water, glass and air. These changes of direction depend on the position and orientation of the camera inside the water-proof housing, as well as on the shape and properties of the optical window, the port, itself. In recent years explicit models for underwater vision behind common ports such as flat or dome port have been proposed, but the underwater community is still lacking a calibration tool which can determine port parameters through refractive calibration. With this work we provide the first open source implementation of an underwater refractive camera calibration toolbox. It allows end-to-end calibration of underwater vision systems, including camera, stereo and housing calibration for systems with dome or flat ports. The implementation is verified using rendered datasets and real-world experiments.

该研究提供了首个开源的水下折射相机标定工具箱，可完整标定包括相机、立体视觉系统和水下外壳在内的水下视觉系统，适用于圆顶或平板口窗。通过使用渲染数据集和真实实验验证了该实现。

一种用于折射水下视觉的校准工具