2026-04-13T02:37:53Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/254382024-10-29T20:45:15Zcom_2072_452955com_2072_2054col_2072_452957

00925njm 22002777a 4500 dc Zoraja, Domagoj author Petković, Tomislav author Forest Collado, Josep author Pribanic, Tomislav author 2023-06-08 The development of a robust 3D imaging system for underwater applications is a crucial process in underwater imaging where the physical properties of the underwater environment make the implementation of such systems challenging. Calibration is an essential step in the application of such imaging systems and is performed to acquire the parameters of the image formation model and to enable 3D reconstruction. We present a novel calibration method for an underwater 3D imaging system comprising a pair of cameras, of a projector, and of a single glass interface that is shared between cameras and projector(s). The image formation model is based on the axial camera model. The proposed calibration uses a numerical optimization of a 3D cost function to determine all system parameters, thus avoiding the minimization of re-projection errors which require numerically solving a 12th order polynomial equation multiple times for each observed point. We also propose a novel stable approach to estimate the axis of the axial camera model. The proposed calibration was experimentally evaluated on four different glass interfaces, wherein several quantitative results were reported, including the re-projection error. The achieved mean angular error of the system’s axis was under (Formula presented.), and the mean absolute errors for the reconstruction of a flat surface were (Formula presented.) mm for normal glass interfaces and (Formula presented.) mm for the laminated glass interface, which is more than sufficient for application This work has been supported by the Croatian Science Foundation under the grant number HRZZ-IP-2019-04-9157 (3D-CODING). Domagoj Zoraja is a doctoral student supported by the Croatian Science Foundation under the grant number DOK-2021-02-9474 http://hdl.handle.net/10256/25438 underwater imaging Calibratge Calibration Imatgeria tridimensional Three-dimensional imaging Calibration of a Structured Light Imaging System in Two-Layer Flat Refractive Geometry for Underwater Imaging †