Abstract. This paper presents the first approach for simultaneously recovering the 3D shape of both the wavy water surface and the moving
underwater scene. A portable camera array system is constructed, which
captures the scene from multiple viewpoints above the water. The correspondences across these cameras are estimated using an optical flow
method and are used to infer the shape of the water surface and the
underwater scene. We assume that there is only one refraction occurring at the water interface. Under this assumption, two estimates of the
water surface normals should agree: one from Snell’s law of light refraction and another from local surface structure. The experimental results
using both synthetic and real data demonstrate the effectiveness of the
presented approach