Multi-scale CNN stereo and pattern removal technique for underwater active stereo system

Kazuto Ichimaru, Ryo Furukawa, Hiroshi Kawasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Demands on capturing dynamic scenes of underwater environments are rapidly growing. Passive stereo is applicable to capture dynamic scenes, however the shape with textureless surfaces or irregular reflections cannot be recovered by the technique. In our system, we add a pattern projector to the stereo camera pair so that artifi?cial textures are augmented on the objects. To use the system at underwater environments, several problems should be compensated, i.e., refraction, disturbance by fluctuation and bubbles. Further, since surface of the objects are interfered by the bubbles, projected patterns, etc., those noises and patterns should be removed from captured images to recover original texture. To solve these problems, we propose three approaches; a depth-dependent calibration, Convolutional Neural Network(CNN)-stereo method and CNN-based texture recovery method. A depth-dependent calibration I sour analysis to fi?nd the acceptable depth range for approximation by center projection to fi?nd the certain target depth for calibration. In terms of CNN stereo, unlike common CNN based stereo methods which do not consider strong disturbances like refraction or bubbles, we designed a novel CNN architecture for stereo matching using multi-scale information, which is intended to be robust against such disturbances. Finally, we propose a multi-scale method for bubble and a projected-pattern removal method using CNNs to recover original textures. Experimental results are shown to prove the effectiveness of our method compared with the state of the art techniques. Furthermore, reconstruction of a live swimming fi?sh is demonstrated to confi?rm the feasibility of our techniques.

Original languageEnglish
Title of host publicationProceedings - 2018 International Conference on 3D Vision, 3DV 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages10
ISBN (Electronic)9781538684252
Publication statusPublished - Oct 12 2018
Event6th International Conference on 3D Vision, 3DV 2018 - Verona, Italy
Duration: Sep 5 2018Sep 8 2018

Publication series

NameProceedings - 2018 International Conference on 3D Vision, 3DV 2018


Other6th International Conference on 3D Vision, 3DV 2018

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition


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