Abstract
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present several solutions based on fixing different sets of variables and investigate the performance of them thoroughly. We design a new alternation strategy that estimates all parameters in each iteration linearly by fixing just the non-linear terms. Our best 6-point solver, based on the new alternation technique, shows an identical or even better performance than the state-of-the-art R6P solver and is two orders of magnitude faster. In addition, a linear non-iterative solver is presented that requires a non-minimal number of 9 correspondences but provides even better results than the state-of-the-art R6P. Moreover, all proposed linear solvers provide a single solution while the state-of-the-art R6P provides up to 20 solutions which have to be pruned by expensive verification.
This work was supported by the European Regional Development Fund under the project IMPACT (reg. no. CZ.02.1.01/0.0/0.0/15_003/0000468), EC H2020-ICT-731970 LADIO project, ESI Fund, OP RDE programme under the project International Mobility of Researchers MSCA-IF at CTU No. CZ.02.2.69/0.0/0.0/17_050/0008025, and Grant-in-Aid for Scientific Research (Grant No. 16H02851) of the Ministry of Education, Culture, Sports, Science and Technology of Japan. A part of this work was done when Zuzana Kukelova was visiting the National Institute of Informatics (NII), Japan, funded in part by the NII MOU grant.
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Kukelova, Z., Albl, C., Sugimoto, A., Pajdla, T. (2019). Linear Solution to the Minimal Absolute Pose Rolling Shutter Problem. In: Jawahar, C., Li, H., Mori, G., Schindler, K. (eds) Computer Vision – ACCV 2018. ACCV 2018. Lecture Notes in Computer Science(), vol 11363. Springer, Cham. https://doi.org/10.1007/978-3-030-20893-6_17
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