Calibration of shared flat refractive stereo systems

The calibration of underwater camera systems differs significantly from calibration in air due to the refraction of light. In this paper, we present a calibration approach for a shared flat refractive stereo system that is based on virtual object points. We propose a sampling strategy in combination with an efficiently solvable set of equations for the calibration of the refractive parameters. Due to the independence of calibration targets of known dimensions, the approach can be realized by using stereo correspondences alone.