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joshi-bharat / deep_underwater_localization

Source Code for "DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization", IROS 2020
GNU General Public License v3.0
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no refraction？ #9

Closed xiahaa closed 2 years ago

xiahaa commented 2 years ago

Hi, does refraction have some sorts of effects on the pose estimation?

joshi-bharat commented 2 years ago

Since the CNN predicts the relative position in terms of camera width and height, this position does not depend on camera intrinsics. It solely depends on the position of corners in the image. However, when doing PnP you should calibrate the cameras underwater, which should take care of refraction.

xiahaa commented 2 years ago

Since the CNN predicts the relative position in terms of camera width and height, this position does not depend on camera intrinsics. It solely depends on the position of corners in the image. However, when doing PnP you should calibrate the cameras underwater, which should take care of refraction.

Thanks for your reply. May I ask are those underwater calibration images publicly available?

joshi-bharat commented 2 years ago

https://afrl.cse.sc.edu/afrl/resources/datasets/