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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\u2019s focal length. The main advantage of our method lies in performing the calibration without any specific calibration pattern, while most other existing methods use physical targets. In this paper, we also propose a new sonar\u2013vision dataset and use it to prove the validity of our calibration method.<\/jats:p>","DOI":"10.3390\/s23031700","type":"journal-article","created":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T04:21:43Z","timestamp":1675398103000},"page":"1700","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Self Calibration of a Sonar\u2013Vision System for Underwater Vehicles: A New Method and a Dataset"],"prefix":"10.3390","volume":"23","author":[{"given":"Nicolas","family":"Pecheux","sequence":"first","affiliation":[{"name":"LIRMM, Univ. Montpellier, CNRS, Montpellier, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6813-8562","authenticated-orcid":false,"given":"Vincent","family":"Creuze","sequence":"additional","affiliation":[{"name":"LIRMM, Univ. 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