Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Implementation of a primal—dual method for SDP on a shared memory parallel architecture
Computational Optimization and Applications
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
GloptiPoly 3: moments, optimization and semidefinite programming
Optimization Methods & Software - GLOBAL OPTIMIZATION
Handbook of Mathematical Models in Computer Vision
Handbook of Mathematical Models in Computer Vision
Simultaneous object pose and velocity computation using a single view from a rolling shutter camera
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Analysis and Compensation of Rolling Shutter Effect
IEEE Transactions on Image Processing
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Low cost CMOS cameras can have an acquisition mode called rolling shutter which sequentially exposes the scan-lines. When a single object moves with respect to the camera, this creates image distortions. Assuming 2D-3D correspondences known, previous work showed that the object pose and kinematics can be estimated from a single rolling shutter image. This was achieved using a suboptimal initialization followed by local iterative optimization. We propose a polynomial projection model for rolling shutter cameras and a constrained global optimization of its parameters. This is done by means of a semidefinite programming problem obtained from the generalized problem of moments method. Contrarily to previous work, our optimization does not require an initialization and ensures that the global minimum is achieved. This allows us to build automatically robust 2D-3D correspondences using a template to provide an initial set of correspondences. Experiments show that our method slightly improves previous work on both simulated and real data. This is due to local minima into which previous methods get trapped. We also successfully experimented building 2D-3D correspondences automatically with both simulated and real data.