CVPR 2023 - Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution

In this episode we discuss Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution by Bangyan Liao, Delin Qu, Yifei Xue, Huiqing Zhang, Yizhen Lao. The paper proposes a solution for accurate and fast bundle adjustment (BA) to estimate the 6-DoF pose using a rolling shutter camera. The proposed method addresses the challenges in existing works, such as relying on high frame rate video, restrictive assumptions on camera motion, and poor efficiency. The authors demonstrate the positive influence of image point normalization and propose a visual residual covariance model to improve accuracy. Additionally, they propose a combination of normalization and covariance standardization weighting to avoid planar degeneracy and propose an acceleration strategy based on the sparsity of the Jacobian matrix and Schur complement. Experimental results show the effectiveness and efficiency of the proposed solution over existing works.