# Unified Underwater Structure-from-Motion

arXiv: https://arxiv.org/abs/1909.03583 · HTML: https://mlsanity.com/paper/1909.03583/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Sep 2019.

## Built on by (most cited first, 1 of 1)

- [Light Field-Based Underwater 3D Reconstruction Via Angular Resampling](https://mlsanity.com/paper/2109.02116/) (2021)

## Abstract (arXiv)

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.