@inproceedings{61711fb0bc56461abc35e542cc4c80b8,
title = "Global optimization of object pose and motion from a single rolling shutter image with automatic 2D-3D matching",
abstract = "Low cost CMOS cameras can have an acquisition mode called rolling shutter which sequentially exposes the scan-lines. When a single object moves with respect to the camera, this creates image distortions. Assuming 2D-3D correspondences known, previous work showed that the object pose and kinematics can be estimated from a single rolling shutter image. This was achieved using a suboptimal initialization followed by local iterative optimization. We propose a polynomial projection model for rolling shutter cameras and a constrained global optimization of its parameters. This is done by means of a semidefinite programming problem obtained from the generalized problem of moments method. Contrarily to previous work, our optimization does not require an initialization and ensures that the global minimum is achieved. This allows us to build automatically robust 2D-3D correspondences using a template to provide an initial set of correspondences. Experiments show that our method slightly improves previous work on both simulated and real data. This is due to local minima into which previous methods get trapped. We also successfully experimented building 2D-3D correspondences automatically with both simulated and real data.",
keywords = "matching, motion estimation, rolling shutter",
author = "Ludovic Magerand and Adrien Bartoli and Omar Ait-Aider and Daniel Pizarro",
year = "2012",
month = oct,
day = "30",
doi = "10.1007/978-3-642-33718-5_33",
language = "English",
isbn = "9783642337178",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
number = "PART 1",
pages = "456--469",
booktitle = "Computer Vision, ECCV 2012 - 12th European Conference on Computer Vision, Proceedings",
edition = "PART 1",
note = "12th European Conference on Computer Vision, ECCV 2012 ; Conference date: 07-10-2012 Through 13-10-2012",
}