An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
Mohit Singh,Mihir Dharmadhikari,Kostas Alexis,Mohit Singh,Mihir Dharmadhikari,Kostas Alexis
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is separable as a distortion model (dependent on refractive index n and radial pixel coordinate) and a virtual pinhole model (as a function of n). We derive the sel...
