Continuous-Time Spatiotemporal Calibration of a Rolling Shutter Camera-IMU System

IMU-Camera Calibration: Observability Analysis

Camera-IMU Calibration Using a Tilted Calibration Board

Zusammenfassung: Für mobile Einsatzkräfte ist die Kenntnis der eigenen Position eine große Hilfe, wenn sie an unbekannten Orten zeitkritische oder gefährliche Aufgaben erledigen sollen. Eine automatische Bestimmung der eigenen Position ist jedoch schwierig, wenn Funksignale abgeschattet sind und gängige Verfahren der Satellitenortung somit nicht verwendet werden können. Um hier Abhilfe zu schaf...

Monocular Visual Odometry with a Rolling Shutter Camera

Rolling Shutter (RS) cameras have become popularized because of low-cost imaging capability. However, the RS cameras suffer from undesirable artifacts when the camera or the subject is moving, or illumination condition changes. For that reason, Monocular Visual Odometry (MVO) with RS cameras produces inaccurate ego-motion estimates. Previous works solve this RS distortion problem with motion pr...

Adding Synchronization and Rolling Shutter in Multi-Camera Bundle Adjustment

This paper introduces a new bundle adjustment for multi-cameras, that simultaneously estimates not only the usual parameters (poses and points) but also the synchronization and the rolling shutter. We start from an initial calibration with a global shutter camera model (GS) and a frameaccurate synchronization provided by previous self-calibration methods [1]. Our BA provides subframe-accurate s...

Rolling Shutter Camera Synchronization with Sub-millisecond Accuracy

A simple method for synchronization of video streams with a precision better than one millisecond is proposed. The method is applicable to any number of rolling shutter cameras and when a few photographic flashes or other abrupt lighting changes are present in the video. The approach exploits the rolling shutter sensor property that every sensor row starts its exposure with a small delay after ...