The study of the underwater camera model

The visual information is one of most important for underwater platforms like underwater vehicles to perform various missions. So most of them are equipped with underwater cameras, and a lot of information can be obtained from images taken by the cameras. However, for example, it is very difficult to understand the accurate size or accurate length and area of shooting subjects. So we propose the stereo camera system in order to measure such parameters accurately because Most of the underwater platforms are already equipped with some underwater cameras. And it is more compact than other sensor devices, and also its measurement accuracy is much better than them. However the design of the properly camera model for the deep-sea is very difficult because of the complex optical refraction. So, new camera model for underwater must be designed. In this paper, the outline and the effect of the underwater camera model, which can compensate the influence cased by the complex optical refraction, are shown.