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Underwater Stereo Matching and its Calibration Open Access


Other title
Underwater stereo
Stereo matching
Computer vision
Type of item
Degree grantor
University of Alberta
Author or creator
Gedge, Jason
Supervisor and department
Gong, Minglun (Computing Science)
Yang, Yee-Hong (Computing Science)
Examining committee member and department
Joseph, Dil (Electrical and Computer Engineering)
Jagersand, Martin (Computing Science)
Department of Computing Science

Date accepted
Graduation date
Master of Science
Degree level
A fundamental component of stereo vision is that of epipolar geometry. It shows that the corresponding point of a pixel in one image is restricted to a line in another image. When a refractive surface is introduced, such as in underwater imaging, this constraint no longer holds. Instead, the corresponding point of a pixel in one image is now restricted to a curve, not a line, in the other image. In this thesis, we investigate the impact of a planar refractive interface on stereo matching. We address the issue of 3D point projection in a refractive medium, including cases where the refractive interface is not parallel with the camera’s imaging plane. A novel method for calibrating the parameters of a planar refractive interface is proposed. We show how to compute the refractive epipolar curve for a pixel, which allows us to generate a matching cost volume that compensates for the effects of refraction. We implement a multi-view stereo algorithms to test the correctness of our matching cost volume. The experimental results show that our new approach can significantly improve the results of underwater stereo matching over previous approaches using heuristic methods to account for refraction.
License granted by Jason Gedge ( on 2011-08-23T23:04:36Z (GMT): Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of the above terms. The author reserves all other publication and other rights in association with the copyright in the thesis, and except as herein provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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