Marine Robotics & Underwater Autonomy
Online Refractive Camera Model Calibration in Visual Inertial Odometry
This work presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.
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An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
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.
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