Self Calibration of a Sonar-Vision System for Underwater Vehicles: A New Method and a Dataset.

Monocular cameras and multibeam imaging sonars are common sensors of Unmanned Underwater Vehicles (UUV). In this paper, we propose a new method for calibrating a hybrid sonar-vision system. This method is based on motion comparisons between both images and allows us to compute the transformation matrix between the camera and the sonar and to estimate the camera's focal length.