屈折媒体対応のオンライン自己校正カメラモデルと水中オドメトリへの応用
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
水中などの屈折媒質に対応するため、エピポーラ拘束を利用して屈折率をオンラインで自己校正するカメラモデルを提案し、水中ロボットの視覚慣性オドメトリの精度と頑健性を向上させた。
著者: Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
分類: cs.RO
原文アブストラクト
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 self-calibration formulation leveraging epipolar constraints to estimate the refractive index and subsequently correct for distortion. Through experimental studies using an underwater robot integrating cameras and inertial sensing, the model is validated regarding the accurate estimation of the refractive index and its benefits for robust odometry estimation in an extended envelope of conditions. Lastly, we show the transition between media and the estimation of the varying refractive index online, thus allowing computer vision tasks across refractive media.
