This pages gives the basis of multi fluid sensor calibration and particularly air and water media. Different relations are shown between the index variation, the focal length, the field of view and the distortion function.
The fit between theoritical laws and measured data is almost completely fulfilled. For most applications that require an underwater camera, it is possible to carry out the sensor calibration in air and predict the intrinsic sensor parameters when the camera is immersed.
Acknowledgement
This work has been done in collaboration with the french company POSEIDON [Pos]. The authors greatfully acknowledge all the staff for lending the under-water cameras.