Multi-view 3D reconstruction for scenes under the refractive plane with known vertical direction

Yao-Jen Chang, Tsuhan Chen
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引用次数: 66

Abstract

Images taken from scenes under water suffer distortion due to refraction. While refraction causes magnification with mild distortion on the observed images, severe distortions in geometry reconstruction would be resulted if the refractive distortion is not properly handled. Different from the radial distortion model, the refractive distortion depends on the scene depth seen from each light ray as well as the camera pose relative to the refractive surface. Therefore, it's crucial to obtain a good estimate of scene depth, camera pose and optical center to alleviate the impact of refractive distortion. In this work, we formulate the forward and back projections of light rays involving a refractive plane for the perspective camera model by explicitly modeling refractive distortion as a function of depth. Furthermore, for cameras with an inertial measurement unit (IMU), we show that a linear solution to the relative pose and a closed-form solution to the absolute pose can be derived with known camera vertical directions. We incorporate our formulations with the general structure from motion framework followed by the patch-based multiview stereo algorithm to obtain a 3D reconstruction of the scene. We show through experiments that the explicit modeling of depth-dependent refractive distortion physically leads to more accurate scene reconstructions.
垂直方向已知的折射率平面下场景的多视图三维重建
从水下拍摄的图像由于折射而失真。折射引起的放大会对观察到的图像造成轻微的畸变,但如果对折射畸变处理不当,则会对几何重建造成严重的畸变。与径向畸变模型不同,折射畸变取决于从每条光线看到的场景深度以及相机相对于折射表面的姿态。因此,获得良好的景深、相机姿态和光心的估计,以减轻折射畸变的影响至关重要。在这项工作中,我们通过明确地将折射畸变作为深度的函数建模,为透视相机模型制定了涉及折射平面的光线的正向和反向投影。此外,对于具有惯性测量单元(IMU)的相机,我们证明了在已知相机垂直方向的情况下,可以推导出相对姿态的线性解和绝对姿态的封闭解。我们将我们的公式与运动框架的一般结构结合起来,然后是基于补丁的多视图立体算法,以获得场景的3D重建。我们通过实验表明,深度相关的折射畸变的显式建模物理导致更准确的场景重建。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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