Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks

Petr Hruby, Marc Pollefeys

Keywords: minimal solvers, asynchronous tracks, rolling shutter, event cameras

TL;DR: We present minimal solvers for the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, which can be used to estimate the motion of rolling shutter and event cameras.

Abstract: We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a polynomial approximation, classify the resulting minimal problems, and determine their algebraic degrees. Furthermore, we develop minimal solvers for several problems with low degrees and evaluate them on synthetic and real datasets. The code is publicly available.

Submission Number: 387