AutoCalib_Sonar_Camera

Source code for paper: "Mutual Information -based Extrinsic Calibration of Camera-Sonar system leveraging Sonar pseudo-pointcloud and Underwater Light Attenuation Prior"

Related:

AutoCalib_Lidar_Camera: https://github.com/bachzz/AutoCalib_Lidar_Camera

Data

You can obtain data from the following link: https://drive.google.com/drive/u/3/folders/1Ln7P6Haxj0c4bQeI53CX5XYzsy-R2j6t , then unzip to data/ folder

Run

cd src
python script_[SCENARIO]_uw_[METHOD].py

• SCENARIO can be simu or real
• METHOD can be RM or depth

Demo

• Simulation:

  • Before calibration

  • After calibration

• Real underwater data (contact author from this paper: https://link.springer.com/article/10.1007/s10846-024-02095-2)

  • Before calibration

  • After calibration

Reference code:

• https://robots.engin.umich.edu/SoftwareData/ExtrinsicCalib
• https://github.com/xmba15/automatic_lidar_camera_calibration