High-Precision Mapping and Visual Positioning Based on Rolling Shutter Camera Model
Images might suffer rolling shutter effect due to the characteristic of row-by-row exposure if a rolling shutter cam-era for movement measurement is used.Traditional methods on mapping and visual positioning typically assume that imag-es are obtained by a global shutter,so,it is difficult to obtain high-precision results when using them to process the rolling shutter images.To solve this problem,we construct a rolling shutter camera model based on interpolation,and use it for high-precision mapping and visual positioning of rolling shut-ter images.Structure from motion(SfM)algorithm is used for mapping,and rolling shutter camera model is used to ob-tain the pose of image feature point by coordinate interpola-tion,and then the corresponding projection matrix is ob-tained,following by performing rolling shutter triangulation and rolling shutter bundle adjustment to complete high-preci-sion mapping.In visual positioning,perspective-n-point(PnP)algorithm is used to obtain the initial value of image positioning,and then it is optimized by rolling shutter abso-lute pose optimization algorithm.The experimental results prove that the proposed method can achieve higher mapping and positioning precision than that of traditional global shutter methods.
rolling shutterhigh-precision mappingvisual positioningstructure from motion(SfM)
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