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.
Exploiting Rolling Shutter Distortions for Simultaneous Object Pose and Velocity Computation Using a Single View
2006-01-01
718677 byte
Conference paper
Electronic Resource
English
Simultaneous Object Pose and Velocity Computation Using a Single View from a Rolling Shutter Camera
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