Linear Solution to the Minimal Absolute Pose Rolling Shutter Problem

Zuzana Kukelova, Cenek Albl, Akihiro Sugimoto, Tomas Pajdla

Abstract:

This paper presents new efficient solutions to the rolling
shutter camera absolute pose problem. Unlike the state-of-the-art polynomial
solvers, we approach the problem using simple and fast linear
solvers in an iterative scheme. We present several solutions based on fixing
different sets of variables and investigate the performance of them
thoroughly. We design a new alternation strategy that estimates all
parameters in each iteration linearly by fixing just the non-linear terms.
Our best 6-point solver, based on the new alternation technique, shows
an identical or even better performance than the state-of-the-art R6P
solver and is two orders of magnitude faster. In addition, a linear noniterative
solver is presented that requires a non-minimal number of 9
correspondences but provides even better results than the state-of-theart
R6P. Moreover, all proposed linear solvers provide a single solution
while the state-of-the-art R6P provides up to 20 solutions which have to
be pruned by expensive verification.