BathyFacto: Refraction-Aware Two-Media Neural Radiance Fields for Bathymetry
Through-water photogrammetry from UAV imagery enables shallow-water bathymetry, but refraction at the air--water interface violates the straight-ray assumption of Structure-from-Motion and causes systematic depth bias. We present BathyFacto, a refraction-aware two-media extension of Nerfacto in Nerfstudio for metrically consistent underwater point clouds on simulated data. BathyFacto uses a shared hash-grid density field with a medium-conditioned color head and traces each camera ray as two segments: a straight air segment to a planar water surface and a refracted water segment computed using Snell's law and known refractive indices. A single proposal-network sampler operates on a virtual...
| Authors | Markus Brezovsky, Anatol Günthner, Frederik Schulte et al. |
|---|---|
| Primary category | cs.CV |
| Published | 11 May 2026 |
| Last updated at source | 15 July 2026 |
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