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1、Rolling-Shutter-AwareDifferentialSfMandImageRectificationBingbingZhuang,Loong-FahCheong,GimHeeLeeNationalUniversityofSingaporezhuang.bingbing@u.nus.edu,{eleclf,gimhee.lee}@nus.edu.sgAbstract(a)TwoconsecutiveRSimages(b)RS-AwareDifferentialSfM�ଵ�ଷInthispaper,wedevelopamodifieddiffer
2、entialStructureRS-Aware�ଶfromMotion(SfM)algorithmthatcanestimaterelativeposeOpticalflowfromtwoconsecutiveframesdespiteofRollingShutter(RS)�ଵ��artifacts.Inparticular,weshowthatunderconstantve-ଵ�ଶଶଵ�ଶ���ଵଶଵଶlocityassumption,theerrorsinducedbytherollingshuttereffectcanbeeasilyrecti
3、fiedbyalinearscalingoperationRS-Awareoneachopticalflow.Wefurtherproposea9-pointalgorith-Warpingmtorecovertherelativeposeofarollingshuttercamerathatundergoesconstantaccelerationmotion.Wedemon-stratethatthedensedepthmapsrecoveredfromtherelative(d)Rectifiedimage(c)RS-AwareDepthMappos
4、eoftheRScameracanbeusedinaRS-awarewarpingFigure1:IllustrationofourRS-awaredifferentialSfMandimageforimagerectificationtorecoverhigh-qualityGlobalShut-rectificationpipeline.Seetextformoredetail.ter(GS)images.Experimentsonbothsyntheticandrealdifferentopticalcenter.Anexampleisshownin
5、Fig.1(a),RSimagesshowthatourRS-awaredifferentialSfMalgo-wheretheverticaltreetrunkintheimagecapturedbyaRSrithmproducesmoreaccurateresultsonrelativeposeesti-cameramovingfromrighttoleftappearstobeslanted.mationand3DreconstructionfromimagesdistortedbyRSDuetothepriceadvantageoftheRSc
6、amera,manyre-effectcomparedtostandardSfMalgorithmsthatassumeasearchersbegantopropose3DcomputervisionalgorithmsGScameramodel.WealsodemonstratethatourRS-awarethataimtomitigatetheRSeffectovertherecentyears.Al-warpingforimagerectificationmethodoutperformsstate-thoughseveralworkshaves
7、uccessfullydemonstratedstereoof-the-artcommercialsoftwareproducts,i.e.AdobeAfter[21],sparseanddense3Dreconstruction[15,23]andabso-EffectsandAppleImovie,atremovingRSartifacts.luteposeestimation[1,22,17]usingRSimages,mostoftheseworkscompletelybypassedtheinitialrelativepose1.Introd
8、uctionestimation,e.g.bysubstitutingitwithGPS/IN
