arXiv:2605.10174cs.CV2026-05

解决水下摄影测量中的折射偏差问题,实现高精度海底地形重建。

BathyFacto: Refraction-Aware Two-Media Neural Radiance Fields for Bathymetry

论文配图:BathyFacto: Refraction-Aware Two-Media Neural Radiance Fields for Bathymetry
图 1 · 摘自论文原文
  • 引入双介质神经辐射场,分段追踪空气与水中的光线路径。
  • 在模拟数据上实现0.001米偏差、85.7%完整度的精准点云重建。
  • 适用于全视角相机拍摄,尤其适合非正视角度的复杂水下场景。

利用无人机影像进行水下摄影测量可实现浅水区地形测绘,但空气-水界面的折射违反了结构光恢复的直线传播假设,导致系统性深度偏差。本文提出BathyFacto,是Nerfstudio中Nerfacto的折射感知双介质扩展,可在模拟数据上生成度量一致的水下点云。BathyFacto采用共享哈希网格密度场,结合介质条件颜色头,并将每条相机射线分为两段:从空气到平面水表面的直线段,以及依据斯涅尔定律和已知折射率计算的折射水段。单一提案网络采样器作用于虚拟直线射线,而折线密度包装器在密度评估前修正水段位置。该流程将摄影测量重建转换为Nerfstudio格式,通过边界标记估计水面平面,提供像素级介质掩码,并支持可逆变换的折射校正点云导出。在具有真实地面真值的模拟场景中,BathyFacto在无刚体对齐条件下达到-0.001米的云到网格有符号中位数偏差和0.2米容忍度下的85.7%完整性。相比之下,Nerfacto为+1.370米/11.6%,无折射修正的BathyFacto为+1.409米/9.9%。即使经过简单的折射率深度校正,两者仍存在约0.4米偏移。不同于仅在近垂直视角可靠的折射校正多视图立体视觉参考,BathyFacto在全范围相机入射角下均能恢复一致几何结构。

原文摘要 · Abstract (English)

Through-water photogrammetry from UAV imagery enables shallow-water bathymetry, but refraction at the air--water interface violates the straight-ray assumption of Structure-from-Motion and causes systematic depth bias. We present BathyFacto, a refraction-aware two-media extension of Nerfacto in Nerfstudio for metrically consistent underwater point clouds on simulated data. BathyFacto uses a shared hash-grid density field with a medium-conditioned color head and traces each camera ray as two segments: a straight air segment to a planar water surface and a refracted water segment computed using Snell's law and known refractive indices. A single proposal-network sampler operates on a virtual straight ray, while a kinked density wrapper corrects water-segment positions before density evaluation. Our pipeline converts photogrammetric reconstructions to Nerfstudio format, estimates the water plane from boundary markers, provides per-pixel medium masks, and supports refraction-corrected point-cloud export with reversible transforms to world and global frames. On a simulated scene with ground truth, BathyFacto achieves a Cloud-to-Mesh signed median deviation of $-0.001$,m and 85.7,% completeness at 0.2,m tolerance in the absolute global frame without rigid-body alignment. This compares with $+1.370$,m / 11.6,% for Nerfacto and $+1.409$,m / 9.9,% for BathyFacto without refraction. Even after a naive refractive-index depth correction, both baselines remain offset by approximately 0.4,m. Unlike a refraction-corrected Multi-View Stereo reference, which is reliable mainly for near-nadir views, BathyFacto recovers consistent geometry across the full range of camera incidence angles.

水下测绘神经辐射场折射校正点云重建

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