Depth Estimation of Semi-submerged Objects Using a Light-Field Camera

Abstract

We present an algorithm to estimate depth of realworld scenes containing an object semi-submerged in water using a light field camera. Existing hand-held consumer light field cameras are well-suited for automated refocusing, depth detection in out-door environment. However, when it comes to surveying marine environment and near water macro photography, all depth estimation algorithms based on traditional perspective camera model will fail because of the refracted rays. In this paper, we present a new method that explicitly accommodates the effect of refraction and resolves correct depths of underwater scene points. A semi-submerged object with opaque Lambertian surface with repeating textures is assumed. After removing the effect of refraction, the reconstructed underwater part of the semi-submerged object has consistent depth and shape with that of the above-water part.