ABSTRACT
Depth cameras are increasingly used in research and industry in underwater settings. However, cameras that have been calibrated in air are notably inaccurate in depth measurements when placed underwater, and little research has been done to explore pre-existing depth calibration methodologies and their effectiveness in underwater environments. We used four methods of calibration on a low-cost, commercial depth camera both in and out of water. For each of these methods, we compared the predicted distance and length of objects from the camera with manually measured values to get an indication of depth and length accuracy. Our findings indicate that the standard methods of calibration in air are largely ineffective for underwater calibration and that custom calibration techniques are necessary to achieve higher accuracy.
- F. Bonin, A. Burguera, and G. Oliver. 2011. Imaging Systems for Advanced Underwater Vehicles. Journal of Maritime Research 8, 1 (2011), 65–86. https://www.jmr.unican.es/index.php/jmr/article/view/146Google Scholar
- C. Costa, A. Loy, S. Cataudella, D. Davis, and M. Scardi. 2006. Extracting fish size using dual underwater cameras. Aquacultural Engineering 35, 3 (2006), 218–227. https://doi.org/10.1016/j.aquaeng.2006.02.003Google ScholarCross Ref
- Sundara Tejaswi Digumarti, Gaurav Chaurasia, Aparna Taneja, Roland Siegwart, Amber Thomas, and Paul Beardsley. 2016. Underwater 3D capture using a low-cost commercial depth camera. In 2016 IEEE Winter Conference on Applications of Computer Vision (WACV). 1–9. https://doi.org/10.1109/WACV.2016.7477644Google ScholarCross Ref
- Euan Harvey, Mike Cappo, Mark Shortis, Stuart Robson, Jeff Buchanan, and Peter Speare. 2003. The accuracy and precision of underwater measurements of length and maximum body depth of southern bluefin tuna (Thunnus maccoyii) with a stereo–video camera system. Fisheries Research 63, 3 (Sept. 2003), 315–326. https://doi.org/10.1016/S0165-7836(03)00080-8Google ScholarCross Ref
- Euan Harvey and Mark Shortis. 1998. Calibration Stability of an Underwater Stereo-Video System: Implications for Measurement Accuracy and Precision. Mar. Technol. Soc. J. 32 (06 1998).Google Scholar
- Intel Corporation 2020. Intel RealSense Product Family D400 Series Calibration Tools User Guide. Intel Corporation.Google Scholar
- Intel Realsense 2020. Beginner’s guide to depth (Updated). Intel Realsense.Google Scholar
- Huimin Lu, Yujie Li, Yudong Zhang, Min Chen, Seiichi Serikawa, and Hyoungseop Kim. 2017. Underwater Optical Image Processing: a Comprehensive Review. Mobile Networks and Applications 22, 6 (Dec. 2017), 1204–1211. https://doi.org/10.1007/s11036-017-0863-4Google ScholarDigital Library
- S.G. Narasimhan and S.K. Nayar. 2005. Structured Light Methods for Underwater Imaging: Light Stripe Scanning and Photometric Stereo. In Proceedings of OCEANS 2005 MTS/IEEE. IEEE, Washington, DC, USA, 1–8. https://doi.org/10.1109/OCEANS.2005.1640165Google ScholarCross Ref
- Mark Shortis. 2015. Calibration Techniques for Accurate Measurements by Underwater Camera Systems. Sensors 15(2015), 30810–30826. https://www.mdpi.com/1424-8220/15/12/29831Google ScholarCross Ref
- Mark Shortis, Euan Harvey, and David Abdo. 2009. A Review Of Underwater Stereo-image Measurement For Marine Biology And Ecology Applications. Oceanography and marine biology 47 (06 2009), 257–292. https://doi.org/10.1201/9781420094220.ch6Google Scholar
- Peter Tueller, Raghav Maddukuri, Patrick Paxson, Vivaswat Suresh, Arjun Ashok, Madison Bland, Ronan Wallace, Julia Guerrero, Brice Semmens, and Ryan Kastner. 2021. FishSense: Underwater RGBD Imaging for Fish Measurement. In OCEANS 2021: San Diego – Porto. 1–5. https://doi.org/10.23919/OCEANS44145.2021.9705929Google Scholar
Index Terms
- Underwater Depth Calibration Using a Commercial Depth Camera
Recommendations
Joint Depth and Color Camera Calibration with Distortion Correction
We present an algorithm that simultaneously calibrates two color cameras, a depth camera, and the relative pose between them. The method is designed to have three key features: accurate, practical, and applicable to a wide range of sensors. The method ...
Depth estimation using Stereo Light Field Camera✱
ICVGIP '22: Proceedings of the Thirteenth Indian Conference on Computer Vision, Graphics and Image ProcessingLight field imaging has emerged as a new modality, enabling to capture the angular and spatial information of a scene. This additional angular information is used to estimate the depth of a 3-D scene. The continuum of virtual view-points in light field ...
Binocular Camera Calibration Using Rectification Error
CRV '10: Proceedings of the 2010 Canadian Conference on Computer and Robot VisionReprojection error is a commonly used measure for comparing the quality of different camera calibrations, for example when choosing the best calibration from a set. While this measure is suitable for single cameras, we show that we can improve ...
Comments