Refractive Pose Refinement: Generalising the Geometric Relation between Camera and Refractive Interface
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Refractive Pose Refinement : Generalising the Geometric Relation between Camera and Refractive Interface. / Hu, Xiao; Lauze, François; Pedersen, Kim Steenstrup.
In: International Journal of Computer Vision, Vol. 131, No. 6, 2023, p. 1448-1476.Research output: Contribution to journal › Journal article › Research › peer-review
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TY - JOUR
T1 - Refractive Pose Refinement
T2 - Generalising the Geometric Relation between Camera and Refractive Interface
AU - Hu, Xiao
AU - Lauze, François
AU - Pedersen, Kim Steenstrup
N1 - Publisher Copyright: © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.
PY - 2023
Y1 - 2023
N2 - In this paper, we investigate absolute and relative pose estimation under refraction, which are essential problems for refractive structure from motion. To cope with refraction effects, we first formulate geometric constraints for establishing iterative algorithms to optimize absolute and relative pose. By classifying two scenarios according to the geometric relationship between the camera and refractive interface, we derive the corresponding solutions to solve the optimization problems efficiently. In the scenario where the geometry between the camera and refractive interface is fixed (e.g., underwater imaging), we also show that the refractive epipolar constraint for relative pose can be established as a summation of the classical essential matrix and two correction terms caused by refraction by using the virtual camera transformation. Thanks to its succinct form, the resulting refractive epipolar constraint can be efficiently optimized. We evaluate our proposed algorithms on synthetic data showing superior accuracy and computational efficiency compared to state-of-the-art (SOTA) methods. We further demonstrate the application of the proposed algorithms in refractive structure from motion on real data. Our datasets (Hu et al., RefractiveSfM, https://github.com/diku-dk/RefractiveSfM, 2022) and code (Hu et al., DIKU Refractive Scenes Dataset 2022, Data, 2022) are publicly available.
AB - In this paper, we investigate absolute and relative pose estimation under refraction, which are essential problems for refractive structure from motion. To cope with refraction effects, we first formulate geometric constraints for establishing iterative algorithms to optimize absolute and relative pose. By classifying two scenarios according to the geometric relationship between the camera and refractive interface, we derive the corresponding solutions to solve the optimization problems efficiently. In the scenario where the geometry between the camera and refractive interface is fixed (e.g., underwater imaging), we also show that the refractive epipolar constraint for relative pose can be established as a summation of the classical essential matrix and two correction terms caused by refraction by using the virtual camera transformation. Thanks to its succinct form, the resulting refractive epipolar constraint can be efficiently optimized. We evaluate our proposed algorithms on synthetic data showing superior accuracy and computational efficiency compared to state-of-the-art (SOTA) methods. We further demonstrate the application of the proposed algorithms in refractive structure from motion on real data. Our datasets (Hu et al., RefractiveSfM, https://github.com/diku-dk/RefractiveSfM, 2022) and code (Hu et al., DIKU Refractive Scenes Dataset 2022, Data, 2022) are publicly available.
KW - Pose estimation
KW - Reconstruction
KW - Refraction
KW - SfM
U2 - 10.1007/s11263-023-01763-4
DO - 10.1007/s11263-023-01763-4
M3 - Journal article
AN - SCOPUS:85149239061
VL - 131
SP - 1448
EP - 1476
JO - International Journal of Computer Vision
JF - International Journal of Computer Vision
SN - 0920-5691
IS - 6
ER -
ID: 339324529