Unified Underwater Structure-from-Motion

Kazuto Ichimaru, Yuichi Taguchi, Hiroshi Kawasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)


This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single static camera and moving refractive interface, single moving camera and static refractive interface, and single moving camera and moving refractive interface. In our basic setup, we assume that the refractive interface is planar, and simultaneously estimate the unknown transformations of the planar interface and the camera, and the unknown target shape using bundle adjustment. We also extend it to relax the planarity assumption, which enables us to use waves of the refractive interface for the reconstruction task. Experiments with real data show the superiority of our method to existing methods.

Original languageEnglish
Title of host publicationProceedings - 2019 International Conference on 3D Vision, 3DV 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages9
ISBN (Electronic)9781728131313
Publication statusPublished - Sept 2019
Event7th International Conference on 3D Vision, 3DV 2019 - Quebec, Canada
Duration: Sept 15 2019Sept 18 2019

Publication series

NameProceedings - 2019 International Conference on 3D Vision, 3DV 2019


Conference7th International Conference on 3D Vision, 3DV 2019

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Media Technology
  • Modelling and Simulation


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