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Spatiotemporal Optimization for Rolling Shutter Camera Pose Interpolation

Philippe-Antoine Gohard 1 Bertrand Vandeportaele 1 Michel Devy 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Rolling Shutter cameras are predominant in the tablet and smart-phone market due to their low cost and small size. However, these cameras require specific geometric models when either the camera or the scene is in motion to account for the sequential exposure of the different lines of the image. This paper proposes to improve a state-of-the-art model for RS cameras through the use of Non Uniformly Time-Sampled B-splines. This allows to interpolate the pose of the camera while taking into account the varying dynamic of its motion, using higher density of control points where needed while keeping a low number of control points where the motion is smooth. Two methods are proposed to determine adequate distributions for the control points, using either an IMU sensor or an iterative reprojection error minimization. The non-uniform camera model is integrated into a Bundle Adjustment optimization which is able to converge even from a poor initial estimate. A routine of spatiotempo-ral optimization is presented in order to optimize both the spatial and temporal positions of the control points. Results on synthetic and real datasets are shown to prove the concepts and future works are introduced that should lead to the integration of our model in a SLAM algorithm.
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Submitted on : Tuesday, February 26, 2019 - 1:38:47 PM
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  • HAL Id : hal-02049412, version 1

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Philippe-Antoine Gohard, Bertrand Vandeportaele, Michel Devy. Spatiotemporal Optimization for Rolling Shutter Camera Pose Interpolation. A.P.Claudio et al. (Eds.),. Computer Vision, Imaging and Computer Graphics – Theory and Applications 12th International Joint Conference, VISIGRAPP 2017, Porto, Portugal, February 27 – March 1, 2017, Revised Selected Papers,, Springer, pp.154-175, 2019, 978-3-030-12208-9. ⟨hal-02049412⟩

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