Dynamical models for position measurement with global shutter and rolling shutter cameras
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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
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An original method for computing instantaneous 3D pose and velocity of fast moving objects using a single view is presented. It exploits image deformations induced by rolling shutter in CMOS image sensors. First of all, a general perspective projection model of a moving 3D point is presented. A solution for the pose and velocity recovery problem is then described. The method is based on bundle adjustment and uses point correspondences. The resulting algorithm enables to transform a CMOS low cost and low power camera into an original velocity sensor. Finally, experimental results with real data confirm the relevance of the approach.