Scale reconstructable structure from motion using refraction with omnidirectional camera

Structure from Motion (SfM) is a technique for 3D reconstruction using a single camera. The absolute scale of objects cannot be reconstructed by the conventional SfM. Recently, a method of SfM that can reconstruct the absolute scale has been proposed using refraction at the boundaries of a transparent plate in front of an ordinary camera. In this research, we develop a new method of scale reconstructable SfM with a wide field of view using an omnidirectional camera and a cylindrical transparent housing. After the essential equation is extended for the system, simulation experiments assuming air and underwater environments are conducted. The results show the theoretical validity of this method.