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Refractive Structure-From-Motion Through a Flat Refractive Interface

Chadebecq, F; Vasconcelos, F; Dwyer, G; Lacher, R; Ourselin, S; Vercauteren, T; Stoyanov, D; (2017) Refractive Structure-From-Motion Through a Flat Refractive Interface. In: Proceedings of the 2017 IEEE International Conference on Computer Vision (ICCV). (pp. pp. 5325-5333). IEEE: Venice, Italy. Green open access

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Abstract

Recovering 3D scene geometry from underwater images involves the Refractive Structure-from-Motion (RSfM) problem, where the image distortions caused by light refraction at the interface between different propagation media invalidates the single view point assumption. Direct use of the pinhole camera model in RSfM leads to inaccurate camera pose estimation and consequently drift. RSfM methods have been thoroughly studied for the case of a thick glass interface that assumes two refractive interfaces between the camera and the viewed scene. On the other hand, when the camera lens is in direct contact with the water, there is only one refractive interface. By explicitly considering a refractive interface, we develop a succinct derivation of the refractive fundamental matrix in the form of the generalised epipolar constraint for an axial camera. We use the refractive fundamental matrix to refine initial pose estimates obtained by assuming the pinhole model. This strategy allows us to robustly estimate underwater camera poses, where other methods suffer from poor noise-sensitivity. We also formulate a new four view constraint enforcing camera pose consistency along a video which leads us to a novel RSfM framework. For validation we use synthetic data to show the numerical properties of our method and we provide results on real data to demonstrate performance within laboratory settings and for applications in endoscopy.

Type: Proceedings paper
Title: Refractive Structure-From-Motion Through a Flat Refractive Interface
Event: 2017 IEEE International Conference on Computer Vision (ICCV)
Location: Venice
ISBN-13: 9781538610329
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICCV.2017.568
Publisher version: http://dx.doi.org/10.1109/ICCV.2017.568
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Cameras, Three-dimensional displays, Computational modeling, Adaptation models, Geometry, Distortion, Refractive index
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: http://discovery.ucl.ac.uk/id/eprint/10041441
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