43
69

Rolling Shutter Camera Relative Pose: Generalized Epipolar Geometry

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.

View on arXiv
Comments on this paper

We use cookies and other tracking technologies to improve your browsing experience on our website, to show you personalized content and targeted ads, to analyze our website traffic, and to understand where our visitors are coming from. See our policy.