Refractive COLMAP: Refractive Structure-from-Motion Revisited
<|reference_start|>Refractive COLMAP: Refractive Structure-from-Motion Revisited: In this paper, we present a complete refractive Structure-from-Motion (RSfM) framework for underwater 3D reconstruction using refractive camera setups (for both, flat- and dome-port underwater housings). Despite notable achievements in refractive multi-view geometry over the past decade, a robust, complete and publicly available solution for such tasks is not available at present, and often practical applications have to resort to approximating refraction effects by the intrinsic (distortion) parameters of a pinhole camera model. To fill this gap, we have integrated refraction considerations throughout the entire SfM process within the state-of-the-art, open-source SfM framework COLMAP. Numerical simulations and reconstruction results on synthetically generated but photo-realistic images with ground truth validate that enabling refraction does not compromise accuracy or robustness as compared to in-air reconstructions. Finally, we demonstrate the capability of our approach for large-scale refractive scenarios using a dataset consisting of nearly 6000 images. The implementation is released as open-source at: https://cau-git.rz.uni-kiel.de/inf-ag-koeser/colmap_underwater.<|reference_end|>
@article{she2024refractive,
    title={Refractive COLMAP: Refractive Structure-from-Motion Revisited},
    author={Mengkun She and Felix Seegr"aber and David Nakath and Kevin K"oser},
    journal={arXiv preprint arXiv:2403.08640},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.08640},
    primaryClass={cs.CV}
}