Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Object pose from 2-D to 3-D point and line correspondences
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Do We Really Need an Accurate Calibration Pattern to Achieve a Reliable Camera Calibration?
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
High-Speed videography using a dense camera array
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Mosaicing new views: the Crossed-Slits projection
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments
International Journal of Robotics Research
3D pose and velocity visual tracking based on sequential region of interest acquisition
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Dynamic visual servoing from sequential regions of interest acquisition
International Journal of Robotics Research
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
Motion and velocity estimation of rolling shutter cameras
Proceedings of the 9th European Conference on Visual Media Production
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An original concept for computing instantaneous 3D pose and 3D velocity of fast moving objects using a single view is proposed, implemented and validated. It takes advantage of the image deformations induced by rolling shutter in CMOS image sensors. First of all, after analysing the rolling shutter phenomenon, we introduce an original model of the image formation when using such a camera, based on a general model of moving rigid sets of 3D points. Using 2D-3D point correspondences, we derive two complementary methods, compensating for the rolling shutter deformations to deliver an accurate 3D pose and exploiting them to also estimate the full 3D velocity. The first solution is a general one based on non-linear optimization and bundle adjustment, usable for any object, while the second one is a closed-form linear solution valid for planar objects. The resulting algorithms enable us to transform a CMOS low cost and low power camera into an innovative and powerful velocity sensor. Finally, experimental results with real data confirm the relevance and accuracy of the approach.