利用滚动快门畸变，从单帧图像估算高速球体的运动速度与自转。
Estimating Velocity and Spin of Spherical Objects from Rolling-Shutter Image(s)
- 设计可检测球形图案，无需对应点直接恢复运动。
- 在高动态条件下实现纹理缺失球体的精确速度估计。
- 适合高速运动分析、机器人视觉等需要快速感知场景。
滚动快门相机在拍摄快速运动物体时会产生特征性畸变，传统方法将其视为需校正的伪影。本文反其道而行之，将滚动快门畸变作为时间信息来源，仅通过一张滚动快门图像即可估计快速运动球体的三维平动与角速度。设计了一种鲁棒且易检测的球形图案，并提出无对应关系的建模方法，通过反投影框架中的几何一致性约束恢复运动。利用球体几何特性，将平动与转动解耦，采用两阶段优化流程，在合成与真实数据集上均验证了在高动态条件下的准确与鲁棒性，即使对无纹理物体也能可靠恢复运动参数。
原文摘要 · Abstract (English)
Rolling-shutter cameras introduce characteristic distortions when imaging fast moving objects, and these effects are typically treated as artifacts to be corrected. In this work, we instead leverage rolling-shutter distortions as a valuable source of temporal information to estimate the 3D translational and angular velocities of rapidly moving spherical objects from a single rolling-shutter frame. We design a robust and easily detectable spherical pattern and propose a correspondence-free formulation that recovers motion by enforcing geometric consistency in a back-projection framework. By exploiting the geometry of the sphere, translational and rotational motions are decoupled and estimated through a two-stage optimization process, enabling reliable velocity recovery even for textureless objects. Extensive experiments on both synthetic and real datasets demonstrate accurate and robust estimation of motion parameters under challenging high-speed conditions.
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