The classical model used in artificial vision for description of image formation is the perspective projection and thus the pine-hole (or sténopé) model of projection.
Some links between this model and classical optical laws were established in [LRD93], but the object and its image were both in the same homogeneous medium, namely the air.
Underwater camera calibration must involve a slightly more general optical model, taking account of the different fluids in which the object and the image are situated .