Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks
This work addresses motion estimation for emerging camera technologies like event cameras, but it is incremental as it builds on existing minimal solver frameworks.
The paper tackled the problem of estimating full 6-DOF camera motion from asynchronous point tracks, relevant for rolling shutter and event cameras, by developing polynomial approximations and minimal solvers with low algebraic degrees, achieving accurate results on synthetic and real datasets.
We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a polynomial approximation, classify the resulting minimal problems, and determine their algebraic degrees. Furthermore, we develop minimal solvers for several problems with low degrees and evaluate them on synthetic and real datasets. The code will be made publicly available.