RSL-BA: Rolling Shutter Line Bundle Adjustment

TL;DR

This paper introduces RSL-BA, a novel rolling shutter line bundle adjustment method that leverages line features for improved robustness and degeneracy prevention in camera calibration, outperforming point-based methods in efficiency and accuracy.

Contribution

The paper presents the first line-based bundle adjustment for rolling shutter cameras, including a new projection theory and error formulation that enhances robustness against degeneracies.

Findings

Prevents three common degeneracies in rolling shutter BA.

Achieves comparable accuracy and efficiency to point-based methods.

Demonstrates robustness and effectiveness through synthetic and real data experiments.

Abstract

The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages, previous rolling shutter bundle adjustment (RSBA) methods have only supported sparse feature points, which lack robustness, particularly in degenerate environments. In this paper, we introduce the first rolling shutter line-based bundle adjustment solution, RSL-BA. Specifically, we initially establish the rolling shutter camera line projection theory utilizing Pl\"ucker line parameterization. Subsequently, we derive a series of reprojection error formulations which are stable and efficient. Finally, we theoretically and experimentally demonstrate that our method can prevent three common degeneracies, one of which is first discovered in this paper. Extensive synthetic and real data experiments demonstrate that our method achieves efficiency and accuracy comparable to existing point-based rolling shutter bundle adjustment solutions.