Rolling shutter bundle adjustment

Hedborg, Johan; Forssén, Per-Erik; Felsberg, Michael; Ringaby, Erik

doi:10.1109/cvpr.2012.6247831

Cited by 117 publications

(130 citation statements)

References 27 publications

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“…Hedborg et al (2012) state that CMOS sensors are reading images by rows. Furthermore, modern video devices usually come without mechanical shutter systems, mostly electronic rolling shutters are applied.…”

Section: Rolling Shuttermentioning

confidence: 99%

Evaluation of the Quality of Action Cameras With Wide-Angle Lenses in Uav Photogrammetry

Hastedt¹,

Ekkel²,

Lühmann³

2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:The application of light-weight cameras in UAV photogrammetry is required due to restrictions in payload. In general, consumer cameras with normal lens type are applied to a UAV system. The availability of action cameras, like the GoPro Hero4 Black, including a wide-angle lens (fish-eye lens) offers new perspectives in UAV projects. With these investigations, different calibration procedures for fish-eye lenses are evaluated in order to quantify their accuracy potential in UAV photogrammetry. Herewith the GoPro Hero4 is evaluated using different acquisition modes. It is investigated to which extent the standard calibration approaches in OpenCV or Agisoft PhotoScan/Lens can be applied to the evaluation processes in UAV photogrammetry. Therefore different calibration setups and processing procedures are assessed and discussed. Additionally a pre-correction of the initial distortion by GoPro Studio and its application to the photogrammetric purposes will be evaluated. An experimental setup with a set of control points and a prospective flight scenario is chosen to evaluate the processing results using Agisoft PhotoScan. Herewith it is analysed to which extent a pre-calibration and pre-correction of a GoPro Hero4 will reinforce the reliability and accuracy of a flight scenario.

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Section: Rolling Shuttermentioning

confidence: 99%

Evaluation of the Quality of Action Cameras With Wide-Angle Lenses in Uav Photogrammetry

Hastedt¹,

Ekkel²,

Lühmann³

2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…obtained from dominant scene planes [8] in a prior sparse reconstruction step like [13] or [16]) and a single sweeping direction. The sweep is performed by creating additional planes within the distance range [D min , D max ].…”

Section: Discussionmentioning

confidence: 99%

“…In a later work, Hedborg et al [13] have shown a full bundle adjustment including motion effects as well. Most recently Klingner et al [16] proposed a structure from motion pipeline, for cameras mounted on a car, which uses relative pose prior along the vehicle path.…”

Section: Previous Workmentioning

confidence: 99%

Rolling Shutter Stereo

Saurer

Köser

Bouguet

et al. 2013

2013 IEEE International Conference on Computer Vision

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A huge fraction of cameras used nowadays is based on CMOS sensors with a rolling shutter that exposes the image line by line. For dynamic scenes/cameras this introduces undesired effects like stretch, shear and wobble. It has been shown earlier that rotational shake induced rolling shutter effects in hand-held cell phone capture can be compensated based on an estimate of the camera rotation. In contrast, we analyse the case of significant camera motion, e.g. where a bypassing streetlevel capture vehicle uses a rolling shutter camera in a 3D reconstruction framework. The introduced error is depth dependent and cannot be compensated based on camera motion/rotation alone, invalidating also rectification for stereo camera systems. On top, significant lens distortion as often present in wide angle cameras intertwines with rolling shutter effects as it changes the time at which a certain 3D point is seen. We show that naive 3D reconstructions (assuming global shutter) will deliver biased geometry already for very mild assumptions on vehicle speed and resolution. We then develop rolling shutter dense multiview stereo algorithms that solve for time of exposure and depth at the same time, even in the presence of lens distortion and perform an evaluation on ground truth laser scan models as well as on real street-level data.

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“…Perhaps the most directly related work on bundle adjustment is that of Hedborg et al [15], which aims to bundle adjust rolling-shutter video sequences. As we do, it approximates the complex rolling-shutter camera model as locally linear near points of interest.…”

Section: Related Workmentioning

confidence: 99%

“…In the context of bundle adjustment and triangulation, one must choose a representation for the trajectory that constrains the feature cameras' relative poses. In the work of Hedborg et al [15], for rolling-shutter video, the trajectory is represented by a single key pose for each frame, with the pose during the rolling shutter linearly interpolated between successive key poses. In general, one may insert as many key poses as the tracked features support.…”

Section: Generalized Bundle Adjustmentmentioning

confidence: 99%