Calibration and 3D ground truth data generation with orthogonal camera-setup and refraction compensation for aquaria in real-time

In this paper we present a novel approach to generate precise 3D ground-truth data considering the refraction of the fish tank. We used an accurate and easy-to-handle calibration method to calibrate two orthogonally aligned high-resolution cameras in real-time. For precise fish shape segmentation we combined two different background subtraction algorithms, which can also be trained while fish are swimming inside the aquarium. The presented approach takes also shadow segmentation removal and mirroring into account. For refraction compensation at the air-water border we developed an algorithm which calculates the ray-deflection of every shape-pixel and compute the 3D-model in real-time.