IEEE Trans Image Process - Online camera-gyroscope autocalibration for cell phones.

Tópicos

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Resumo

The gyroscope is playing a key role in helping estimate 3D camera rotation for various vision applications on cell phones, including video stabilization and feature tracking. Successful fusion of gyroscope and camera data requires that the camera, gyroscope, and their relative pose to be calibrated. In addition, the timestamps of gyroscope readings and video frames are usually not well synchronized. Previous paper performed camera-gyroscope calibration and synchronization offline after the entire video sequence has been captured with restrictions on the camera motion, which is unnecessarily restrictive for everyday users to run apps that directly use the gyroscope. In this paper, we propose an online method that estimates all the necessary parameters, whereas a user is capturing video. Our contributions are: 1) simultaneous online camera self-calibration and camera-gyroscope calibration based on an implicit extended Kalman filter and 2) generalization of the multiple-view coplanarity constraint on camera rotation in a rolling shutter camera model for cell phones. The proposed method is able to estimate the needed calibration and synchronization parameters online with all kinds of camera motion and can be embedded in gyro-aided applications, such as video stabilization and feature tracking. Both Monte Carlo simulation and cell phone experiments show that the proposed online calibration and synchronization method converge fast to the ground truth values.

Resumo Limpo

gyroscop play key role help estim d camera rotat various vision applic cell phone includ video stabil featur track success fusion gyroscop camera data requir camera gyroscop relat pose calibr addit timestamp gyroscop read video frame usual well synchron previous paper perform cameragyroscop calibr synchron offlin entir video sequenc captur restrict camera motion unnecessarili restrict everyday user run app direct use gyroscop paper propos onlin method estim necessari paramet wherea user captur video contribut simultan onlin camera selfcalibr cameragyroscop calibr base implicit extend kalman filter general multipleview coplanar constraint camera rotat roll shutter camera model cell phone propos method abl estim need calibr synchron paramet onlin kind camera motion can embed gyroaid applic video stabil featur track mont carlo simul cell phone experi show propos onlin calibr synchron method converg fast ground truth valu

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