从异步点轨迹中同时估计相机的平移与角速度
Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks
- 将非多项式问题转为多项式近似，分类并确定代数次数
- 设计了多个低次代数问题的最小解法，支持真实与合成数据
- 适合做事件相机、滚动快门等异步视觉系统的研究者
我们研究从异步点轨迹中估计相机的平移速度和角速度，这一问题对滚动快门相机和事件相机具有重要意义。由于原始问题是非多项式的，我们提出一种多项式近似方法，对所得最小问题进行分类，并确定其代数次数。进一步地，针对若干低次数问题开发了最小解法，并在合成数据和真实数据集上进行了评估。代码将公开发布。
原文摘要 · Abstract (English)
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 will be made publicly available.
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