Omnidirectional Underwater Camera Design and Calibration
dc.contributor.author
dc.date.accessioned
2015-09-18T06:50:21Z
dc.date.available
2015-09-18T06:50:21Z
dc.date.issued
2015-03
dc.identifier.uri
dc.description.abstract
This paper presents the development of an underwater omnidirectional multi-camera system (OMS) based on a commercially available six-camera system, originally designed for land applications. A full calibration method is presented for the estimation of both the intrinsic and extrinsic parameters, which is able to cope with wide-angle lenses and non-overlapping cameras simultaneously. This method is valid for any OMS in both land or water applications. For underwater use, a customized housing is required, which often leads to strong image distortion due to refraction among the different media. This phenomena makes the basic pinhole camera model invalid for underwater cameras, especially when using wide-angle lenses, and requires the explicit modeling of the individual optical rays. To address this problem, a ray tracing approach has been adopted to create a field-of-view (FOV) simulator for underwater cameras. The simulator allows for the testing of different housing geometries and optics for the cameras to ensure a complete hemisphere coverage in underwater operation. This paper describes the design and testing of a compact custom housing for a commercial off-the-shelf OMS camera (Ladybug 3) and presents the first results of its use. A proposed three-stage calibration process allows for the estimation of all of the relevant camera parameters. Experimental results are presented, which illustrate the performance of the calibration method and validate the approach
dc.description.sponsorship
This research was sponsored by the MORPH EU FP7-Project under Grant Agreement FP7-ICT-2011-7-288704, the Spanish National Project OMNIUS (Lightweight robot for OMNidirectional Underwater Surveying and telepresence) under Agreement CTM2013-46718-R, the Generalitat de Catalunya through the ACCIO (Agencia per a la competitivitat de l'empresa de la Generalitat de Catalunya)/TecnioSpring program (TECSPR14-1-0050), with the support of "la Secretaria d'Universitats i Recerca del Departament d'Economia i Coneixement de la Generalitat de Catalunya" and the University of Girona under a grant for the formation of researchers
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
MDPI (Multidisciplinary Digital Publishing Institute)
dc.relation
info:eu-repo/grantAgreement/MINECO//CTM2013-46718-R/ES/ROBOT SUBMARINO PARA EXPLORACION OMNIDIRECCIONAL Y TELEPRESENCIA/
dc.relation.isformatof
Reproducció digital del document publicat a: http://10.3390/s150306033
dc.relation.ispartof
Sensors, 2015, vol. 15, núm. 3, p. 6033-6065
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Articles publicats (D-ATC)
dc.rights
Attribution 4.0 Spain
dc.rights.uri
dc.subject
dc.title
Omnidirectional Underwater Camera Design and Calibration
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
023905
dc.contributor.funder
dc.relation.FundingProgramme
dc.relation.ProjectAcronym
dc.identifier.eissn
1424-8220