Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912551973945344 |
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| author | Hruby, Petr Pollefeys, Marc |
| author_facet | Hruby, Petr Pollefeys, Marc |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_17537 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks Hruby, Petr Pollefeys, Marc Computer Vision and Pattern Recognition 68T45 I.4.5 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. |
| title | Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks |
| topic | Computer Vision and Pattern Recognition 68T45 I.4.5 |
| url | https://arxiv.org/abs/2508.17537 |