Direct Sparse Odometry with Rolling Shutter
Abstract
Neglecting the effects of rolling-shutter cameras for visual odometry (VO) severely degrades accuracy and robustness. In this paper, we propose a novel direct monocular VO method that incorporates a rolling-shutter model. Our approach extends direct sparse odometry which performs direct bundle adjustment of a set of recent keyframe poses and the depths of a sparse set of image points. We estimate the velocity at each keyframe and impose a constant-velocity prior for the optimization. In this way, we obtain a near real-time, accurate direct VO method. Our approach achieves improved results on challenging rolling-shutter sequences over state-of-the-art global-shutter VO.
Cite
Text
Schubert et al. "Direct Sparse Odometry with Rolling Shutter." Proceedings of the European Conference on Computer Vision (ECCV), 2018. doi:10.1007/978-3-030-01237-3_42Markdown
[Schubert et al. "Direct Sparse Odometry with Rolling Shutter." Proceedings of the European Conference on Computer Vision (ECCV), 2018.](https://mlanthology.org/eccv/2018/schubert2018eccv-direct/) doi:10.1007/978-3-030-01237-3_42BibTeX
@inproceedings{schubert2018eccv-direct,
title = {{Direct Sparse Odometry with Rolling Shutter}},
author = {Schubert, David and Demmel, Nikolaus and Usenko, Vladyslav and Stuckler, Jorg and Cremers, Daniel},
booktitle = {Proceedings of the European Conference on Computer Vision (ECCV)},
year = {2018},
doi = {10.1007/978-3-030-01237-3_42},
url = {https://mlanthology.org/eccv/2018/schubert2018eccv-direct/}
}