Adjustment and Calibration of Dome Port Camera Systems for Underwater Vision

  • Mengkun She
  • Yifan SongEmail author
  • Jochen Mohrmann
  • Kevin Köser
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11824)


Dome ports act as spherical windows in underwater housings through which a camera can observe objects in the water. As compared to flat glass interfaces, they do not limit the field of view, and they do not cause refraction of light observed by a pinhole camera positioned exactly in the center of the dome. Mechanically adjusting a real lens to this position is a challenging task, in particular for those integrated in deep sea housings. In this contribution a mechanical adjustment procedure based on straight line observations above and below water is proposed that allows for accurate alignments. Additionally, we show a chessboard-based method employing an underwater/above-water image pair to estimate potentially remaining offsets from the dome center to allow refraction correction in photogrammetric applications. Besides providing intuition about the severity of refraction in certain settings, we demonstrate the methods on real data for acrylic and glass domes in the water.



The authors would like to thank Matthias Wieck for designing and manufacturing the mechanical alignment mount for the dome port camera system and Dr. Anne Jordt for sharing refraction source code. This publication has been cofunded by the German Research Foundation (Deutsche Forschungsgemeinschaft, DFG) – Projektnummer 396311425, through the Emmy Noether Programme. This publication also been cofunded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 690416-H2020-SC5-2015-one-stage (ROBUST). The authors of this paper are also grateful for support from the Chinese Scholarship Council (CSC) for Yifan Song.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Mengkun She
    • 1
    • 2
  • Yifan Song
    • 1
    Email author
  • Jochen Mohrmann
    • 1
  • Kevin Köser
    • 1
  1. 1.GEOMAR Helmholtz Centre for Ocean Research KielKielGermany
  2. 2.School of Civil EngineeringChongqing UniversityChongqingChina

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