  This paper shows that accurate underwater 3D shape reconstruction is possible
using a single camera, observing a target through a refractive interface. We
provide unified reconstruction techniques for a variety of scenarios such as
single static camera and moving refractive interface, single moving camera and
static refractive interface, and single moving camera and moving refractive
interface. In our basic setup, we assume that the refractive interface is
planar, and simultaneously estimate the unknown transformations of the planar
interface and the camera, and the unknown target shape using bundle adjustment.
We also extend it to relax the planarity assumption, which enables us to use
waves of the refractive interface for the reconstruction task. Experiments with
real data show the superiority of our method to existing methods.
