论文标题
立体声滚动快门相机的相对姿势估计
Relative Pose Estimation for Stereo Rolling Shutter Cameras
论文作者
论文摘要
在本文中，我们提出了一种新型的线性算法，以估算立体声滚动快门（RS）摄像头连续帧的6 DOF相对姿势。我们的方法基于以下假设，即立体声摄像机在基线中心周围以恒定的速度进行运动，该速度需要在左右连续帧上进行9对对应关系。立体声图像可以从半全球匹配（SGM）算法中恢复深度图。借助估计的摄像头运动和深度图，我们可以纠正RS图像以获取未发生的图像，而无需任何场景结构假设。对模拟点和合成RS图像的实验证明了我们算法在相对姿势估计中的有效性。
In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with constant velocity around the center of the baseline, which needs 9 pairs of correspondences on both left and right consecutive frames. The stereo RS images enable the recovery of depth maps from the semi-global matching (SGM) algorithm. With the estimated camera motion and depth map, we can correct the RS images to get the undistorted images without any scene structure assumption. Experiments on both simulated points and synthetic RS images demonstrate the effectiveness of our algorithm in relative pose estimation.
