无需预先校准，相机可在线估计介质折射率并实现水下精准定位。
Online Refractive Camera Model Calibration in Visual Inertial Odometry
- 提出通用折射相机模型，将介质折射率作为状态变量在线估计。
- 在水池内机器人数据上验证，初始值扰动大时仍收敛至水的理想折射率。
- 仅需空气中的相机标定，即可在未知折射介质中实现媲美常规的定位性能。
本文提出一种通用的折射相机模型，并实现了在单目视觉惯性里程计框架中对里程计与未知介质折射率的在线联合估计。该方法仅需空气中的相机标定，即可在多种变化的折射流体中正常工作。折射率作为状态变量，在迭代优化中被在线估计。实验基于水下机器人在泳池内采集的数据进行验证，结果显示即使初始化存在显著偏差，系统仍能收敛至水的理想折射率（1.33）。同时，该方法在无先验折射率知识且无需针对介质重新标定相机的情况下，实现了与常规视觉惯性里程计相当的定位性能。
原文摘要 · Abstract (English)
This paper 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. The refractive index is estimated online as a state variable of a monocular visual-inertial odometry framework in an iterative formulation using the proposed camera model. The method was verified on data collected using an underwater robot traversing inside a pool. The evaluations demonstrate convergence to the ideal refractive index for water despite significant perturbations in the initialization. Simultaneously, the approach enables on-par visual-inertial odometry performance in refractive media without prior knowledge of the refractive index or requirement of medium-specific camera calibration.
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