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Cameras can be considered measurement devices complementary to acoustic sensors when it comes to surveying marine environments. When calibrated and used correctly, these visual sensors are well-suited for automated detection, quantification, mapping, and monitoring applications and when aiming at high-accuracy 3D models or change detection. In underwater scenarios, cameras are often set up in pressure...
In underwater environments, cameras need to be confined in an underwater housing, viewing the scene through a piece of glass. In case of flat port underwater housings, light rays entering the camera housing are refracted twice, due to different medium densities of water, glass, and air. This causes the usually linear rays of light to bend and the commonly used pinhole camera model to be invalid. When...
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