Robotics: Science and Systems VIII

Colour-Consistent Structure-from-Motion Models using Underwater Imagery

Mitch Bryson, Matthew Johnson-Roberson, Oscar Pizarro, Stefan Williams


This paper presents an automated approach to correcting for colour inconsistency in underwater images collected from multiple perspectives during the construction of 3D structure-from-motion models. When capturing images underwater, the water column imposes several effects on images that are negligible in air such as colour-dependant attenuation and lighting patterns. These effects cause problems for human interpretation of images and also confound computer-based techniques for clustering and classification. Our approach exploits the 3D structure of the scene generated using structure-from-motion and photogrammetry techniques accounting for distance-based attenuation, vignetting and lighting pattern, and improves the consistency of photo-textured 3D models. Results are presented using imagery collected in two different underwater environments using an Autonomous Underwater Vehicle (AUV).



    AUTHOR    = {Mitch Bryson AND Matthew Johnson-Roberson AND Oscar Pizarro AND Stefan Williams}, 
    TITLE     = {Colour-Consistent Structure-from-Motion Models using Underwater Imagery}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2012}, 
    ADDRESS   = {Sydney, Australia}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2012.VIII.005}