无需建模运动，仅用单行扫描线即可估算滚动快门相机相对位姿。
Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras
- 利用图像单条扫描线与线投影交点推导位姿，不依赖运动模型。
- 在Fastec数据集上验证可行，可作为滚动快门SfM的初始化方案。
- 适用于无运动建模的独立扫描线位姿计算，适合多视图重建场景。
我们提出一种新方法，通过单张图像中线投影与单条扫描线的交点，估计滚动快门相机间的相对位姿。该方法无需显式建模相机运动，也可在单张图像内选择扫描线，实现单视角下滚动快门相机的相对位姿估计。本方法旨在作为滚动快门结构光从运动（SfM）的基础模块，无需运动模型，每条扫描线的位姿可独立计算。我们针对一般和特定情形分类了最小解法，包括平行线和已知重力方向的情况，假设已知内参且无镜头畸变。此外，通过建立此问题与1D相机2D结构估计的联系，开发了含与不含重力先验的平行线场景最小解法。在Fastec数据集的滚动快门图像上实验表明，该方法可用于初始化滚动快门SfM，具有进一步发展的潜力。代码将公开。
原文摘要 · Abstract (English)
We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera motion. Alternatively, scanlines can be selected within a single image, enabling single-view relative pose estimation for scanlines of rolling shutter cameras. Our approach is designed as a foundational building block for rolling shutter structure-from-motion (SfM), where no motion model is required, and each scanline's pose can be computed independently. % We classify minimal solvers for this problem in both generic and specialized settings, including cases with parallel lines and known gravity direction, assuming known intrinsics and no lens distortion. Furthermore, we develop minimal solvers for the parallel-lines scenario, both with and without gravity priors, by leveraging connections between this problem and the estimation of 2D structure from 1D cameras. % Experiments on rolling shutter images from the Fastec dataset demonstrate the feasibility of our approach for initializing rolling shutter SfM, highlighting its potential for further development. % The code will be made publicly available.
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