Minimal Rolling Shutter Absolute Pose with Unknown Focal Length and Radial Distortion
This addresses the challenge of camera calibration and pose estimation for consumer cameras with rolling shutters, which is incremental as it extends existing methods to handle additional unknown parameters.
The paper tackles the problem of estimating absolute camera pose with unknown focal length, radial distortion, and rolling shutter parameters, presenting the first minimal solvers for this scenario and demonstrating accurate estimates in experiments with synthetic and real data.
The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces distortions when the camera moves during the image capture. When focal length has not been calibrated offline, the parameters that describe the radial and rolling shutter distortions are usually unknown. While for global shutter cameras, minimal solvers for the absolute camera pose and unknown focal length and radial distortion are available, solvers for the rolling shutter were missing. We present the first minimal solutions for the absolute pose of a rolling shutter camera with unknown rolling shutter parameters, focal length, and radial distortion. Our new minimal solvers combine iterative schemes designed for calibrated rolling shutter cameras with fast generalized eigenvalue and Groebner basis solvers. In a series of experiments, with both synthetic and real data, we show that our new solvers provide accurate estimates of the camera pose, rolling shutter parameters, focal length, and radial distortion parameters.