Structure and motion estimation from rolling shutter video

Abstract

Abstract

R6P - Rolling shutter absolute pose problem

“…A possible solution is to force v to be close to zero and we propose a way how to do this in section 5 . In section 4 we will show how to modify (8) to make the computation more efficient.…”

“…Recent works have shown that RS is an important effect that should be considered in image rectification [10,19], structure from motion [1,8,7] and multiple view stereo [20]. Those works have shown that existing methods can perform poorly on RS data or even fail completely and that incorporating some sort of RS camera model can solve these issues.…”

Rolling Shutter Camera Calibration

“…A more advanced approach is proposed by Hedborg et al [10], the first RS-specific structure from motion algorithm. The camera trajectory is described by linearly interpolating between the camera poses at the beginning of each frame.…”

“…This model is more general than the linear interpolation proposed in previous publications [1,9,10,15]. we encode a more general continuous motion instead of linear interpolations between consecutive frames.…”

Photogrammetric Accuracy and Modeling of Rolling Shutter Cameras

“…Substantial attention has been dedicated to compensating for rolling shutter artifacts in videos. This includes various approximations for modeling the effect of the camera motion on the image by means of affine transforms (Chun et al, 2008, Baker et al, 2010, a global motion model (Liang et al, 2008), a mixture of homographies (Grundmann et al, 2012), and modeling the camera motion as a pure rotation with constant angular velocity (Hedborg et al, 2011). Most of these approaches do not explicitly model the camera motion and are thus not appropriate for precise structure from motion reconstructions where the camera is known to move at high speed.…”