Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks

TL;DR

This paper introduces minimal solvers for estimating full degrees of freedom motion of a camera using asynchronous point tracks, applicable to rolling shutter and event cameras, by approximating the non-polynomial problem with polynomial methods.

Contribution

It proposes polynomial approximations and minimal solvers for full DoF motion estimation from asynchronous tracks, advancing methods for rolling shutter and event camera data.

Findings

Developed minimal solvers with low algebraic degrees

Evaluated solvers on synthetic and real datasets

Code will be publicly available

Abstract

We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a polynomial approximation, classify the resulting minimal problems, and determine their algebraic degrees. Furthermore, we develop minimal solvers for several problems with low degrees and evaluate them on synthetic and real datasets. The code will be made publicly available.