Structure and kinematics triangulation with a rolling shutter stereo rig
Authors:
- 1 September 2009
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 15505499,p. 1835-1840
Abstract
We describe a spatio-temporal triangulation method to be used with rolling shutter cameras. We show how a single pair of rolling shutter images enables the computation of both structure and motion of rigid moving objects. Starting from a set of point correspondences in the left and right images, we introduce the velocity and shutter characteristics in the triangulation equations. This results in a non-linear error criterion whose minimization in the least square sense provides the shape and velocity parameters. Unlike previous work on rolling shutter cameras, the constraining assumption of a-priori knowledge about the object geometry is removed and a full 3D motion model is considered. The aim of this work is thus to make the use of rolling shutter cameras of a broader interest. Experimental evaluation results confirm the feasibility of the approach.Keywords
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