R5Pup - Rolling shutter absolute pose problem with known vertical direction

Authors: Cenek Albl, Zuzana Kukelova, Tomas Pajdla

Abstract: We present a solution to the rolling shutter (RS) absolute camera pose problem with known vertical direction. Our new solver, R5Pup, is an extension of the general mini- mal solution R6P, which uses a double linearized RS cam- era model initialized by the standard perspective P3P. Here, thanks to using known vertical directions, we avoid double linearization and can get the camera absolute pose directly from the RS model without the initialization by a standard P3P. Moreover, we need only five 2D-to-3D matches while R6P needed six such matches. We demonstrate in simulated and real experiments that our new R5Pup is robust, fast and a very practical method for absolute camera pose compu- tation for modern cameras on mobile devices. We compare our R5Pup to the state of the art RS and perspective meth- ods and demonstrate that it outperforms them when vertical direction is known in the range of accuracy available on modern mobile devices. We also demonstrate that when us- ing R5Pup solver in structure from motion (SfM) pipelines, it is better to transform already reconstructed scenes into the standard position, rather than using hard constraints on the verticality of up vectors.


Cenek Albl, Zuzana Kukelova, Tomas Pajdla. Rolling shutter absolute pose problem with known vertical direction Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2016.


author = {Albl, Cenek and Kukelova, Zuzana and Pajdla, Tomas},
title = {Rolling Shutter Absolute Pose Problem With Known Vertical Direction},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2016}

R5Pup solver v1.0

Czech Ministry of Education under Project RVO13000 and Grant Agency of the CTU Prague project SGS13/202/OHK3/3T/13.

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