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Article overview
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Rolling Shutter Camera Relative Pose: Generalized Epipolar Geometry | Yuchao Dai
; Hongdong Li
; Laurent Kneip
; | Date: |
2 May 2016 | Abstract: | The vast majority of modern consumer-grade cameras employ a rolling shutter
mechanism. In dynamic geometric computer vision applications such as visual
SLAM, the so-called rolling shutter effect therefore needs to be properly taken
into account. A dedicated relative pose solver appears to be the first problem
to solve, as it is of eminent importance to bootstrap any derivation of
multi-view geometry. However, despite its significance, it has received
inadequate attention to date.
This paper presents a detailed investigation of the geometry of the rolling
shutter relative pose problem. We introduce the rolling shutter essential
matrix, and establish its link to existing models such as the push-broom
cameras, summarized in a clean hierarchy of multi-perspective cameras. The
generalization of well-established concepts from epipolar geometry is completed
by a definition of the Sampson distance in the rolling shutter case. The work
is concluded with a careful investigation of the introduced epipolar geometry
for rolling shutter cameras on several dedicated benchmarks. | Source: | arXiv, 1605.0475 | Services: | Forum | Review | PDF | Favorites |
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