WO2018071984A1 - A bundle adjustment system - Google Patents
A bundle adjustment system Download PDFInfo
- Publication number
- WO2018071984A1 WO2018071984A1 PCT/AU2017/051144 AU2017051144W WO2018071984A1 WO 2018071984 A1 WO2018071984 A1 WO 2018071984A1 AU 2017051144 W AU2017051144 W AU 2017051144W WO 2018071984 A1 WO2018071984 A1 WO 2018071984A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bundle adjustment
- time domain
- camera
- pose
- rolling shutter
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/642—Optical derotators, i.e. systems for compensating for image rotation, e.g. using rotating prisms, mirrors
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/006—Apparatus mounted on flying objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/50—Control of the SSIS exposure
- H04N25/53—Control of the integration time
- H04N25/531—Control of the integration time by controlling rolling shutters in CMOS SSIS
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17862134.8A EP3529977B1 (en) | 2016-10-20 | 2017-10-20 | A bundle adjustment system |
AU2017344762A AU2017344762A1 (en) | 2016-10-20 | 2017-10-20 | A bundle adjustment system |
CA3043767A CA3043767A1 (en) | 2016-10-20 | 2017-10-20 | A bundle adjustment system |
US16/343,706 US11019245B2 (en) | 2016-10-20 | 2017-10-20 | Bundle adjustment system |
AU2022231762A AU2022231762B2 (en) | 2016-10-20 | 2022-09-15 | A bundle adjustment system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2016904255A AU2016904255A0 (en) | 2016-10-20 | A bundle adjustment system | |
AU2016904255 | 2016-10-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018071984A1 true WO2018071984A1 (en) | 2018-04-26 |
Family
ID=62018124
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AU2017/051144 WO2018071984A1 (en) | 2016-10-20 | 2017-10-20 | A bundle adjustment system |
Country Status (5)
Country | Link |
---|---|
US (1) | US11019245B2 (en) |
EP (1) | EP3529977B1 (en) |
AU (2) | AU2017344762A1 (en) |
CA (1) | CA3043767A1 (en) |
WO (1) | WO2018071984A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA3139467A1 (en) * | 2019-06-07 | 2020-12-10 | David R. Nilosek | Using spatial filter to reduce bundle adjustment block size |
CN111898554B (en) * | 2020-07-31 | 2023-06-23 | 重庆广播电视大学重庆工商职业学院 | Working system and working method for capturing video images according to feature points |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6366734B1 (en) * | 2000-08-31 | 2002-04-02 | Recon/Optical, Inc. | Method of forward motion compensation in an aerial reconnaissance camera |
WO2016054681A1 (en) * | 2014-10-08 | 2016-04-14 | Spookfish Innovations Pty Ltd | An aerial camera system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2960082B1 (en) * | 2010-05-17 | 2012-08-10 | Commissariat Energie Atomique | METHOD AND SYSTEM FOR MERGING DATA FROM IMAGE SENSORS AND MOTION OR POSITION SENSORS |
-
2017
- 2017-10-20 CA CA3043767A patent/CA3043767A1/en active Pending
- 2017-10-20 EP EP17862134.8A patent/EP3529977B1/en active Active
- 2017-10-20 WO PCT/AU2017/051144 patent/WO2018071984A1/en active Search and Examination
- 2017-10-20 US US16/343,706 patent/US11019245B2/en active Active
- 2017-10-20 AU AU2017344762A patent/AU2017344762A1/en not_active Abandoned
-
2022
- 2022-09-15 AU AU2022231762A patent/AU2022231762B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6366734B1 (en) * | 2000-08-31 | 2002-04-02 | Recon/Optical, Inc. | Method of forward motion compensation in an aerial reconnaissance camera |
WO2016054681A1 (en) * | 2014-10-08 | 2016-04-14 | Spookfish Innovations Pty Ltd | An aerial camera system |
Non-Patent Citations (12)
Title |
---|
AIT-AIDER, O. ET AL.: "Simultaneous Object Pose and Velocity Computation Using a Single View from a Rolling Shutter Camera", PROCEEDINGS , PART II, 9TH EUROPEAN CONFERENCE ON COMPUTER VISION (ECCV, 7 May 2006 (2006-05-07), Graz, Austria, pages 56 - 68, XP047385092 * |
ALBL, C. ET AL.: "R6P - Rolling Shutter Absolute Pose Problem", 2015 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR, 7 June 2015 (2015-06-07), Boston, MA, USA, pages 2292 - 2300, XP032793672 * |
HEDBORD ET AL.: "Rolling Shutter Bundle Adjustment", 2012 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR, 16 June 2012 (2012-06-16), Providence, RI, USA, XP032232230 * |
KLEIN, G. ET AL.: "Parallel Tracking and Mapping on a Camera Phone", 8TH IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY (ISMAR, Orlando, FL, USA, XP031568942 * |
KROLL, N.: "3 Tips for Dealing With Rolling Shutter", 29 April 2015 (2015-04-29), XP055477301, Retrieved from the Internet <URL:https://www.premiumbeat.com/blog/3tipsfordealingwithrollingshutter> [retrieved on 20171204] * |
LOURAKIS, M. I. A. ET AL.: "SBA: A Software Package for Generic Sparse Bundle Adjustment", ACM TRANSACTIONS ON MATHEMATICAL SOFTWARE, vol. 36, no. 1, March 2009 (2009-03-01), pages 2.1 - 2.30, XP058347695 * |
LOVEGROVE, S. ET AL.: "Spline Fusion: A continuous-time representation for visual- inertial fusion with application to rolling shutter cameras", PROCEEDINGS OF BRITISH MACHINE VISION CONFERENCE, Bristol, UK, pages 93.1 - 93.12, XP055393236 * |
POLLEFEYS ET AL.: "Multiple View Geometry Tutorial - Part 1", CVPR 2003, XP055477330, Retrieved from the Internet <URL:http://www.robots.ox.ac.uk/~az/tutorials> [retrieved on 20171205] * |
SAURER, O. ET AL.: "Sparse to Dense 3D Reconstruction from Rolling Shutter Images", 2016 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR, 27 June 2016 (2016-06-27), Las Vegas, NV, USA, pages 3337 - 3345, XP033021516 * |
SCHINSTOCK, D. E. ET AL.: "An Alternative Cost Function to Bundle Adjustment used for Aerial Photography from UAVS", ASPRS 2009 ANNUAL CONFERENCE, 9 March 2009 (2009-03-09), Baltimore, Maryland, USA, XP055167293 * |
See also references of EP3529977A4 * |
TRIGGS, B. ET AL.: "Bundle Adjustment - A Modern Synthesis", INTERNATIONAL WORKSHOP ON VISION ALGORITHMS , SEP 2000, vol. 1883, 2000, Corfu, Greece, pages 298 - 372, XP009097330, Retrieved from the Internet <URL:http://www.springerlink.com/content/plvcrq5bx753a2tn> * |
Also Published As
Publication number | Publication date |
---|---|
US11019245B2 (en) | 2021-05-25 |
EP3529977B1 (en) | 2023-06-28 |
US20190268519A1 (en) | 2019-08-29 |
CA3043767A1 (en) | 2018-04-26 |
AU2022231762B2 (en) | 2024-01-18 |
EP3529977A1 (en) | 2019-08-28 |
AU2022231762A1 (en) | 2022-10-06 |
EP3529977A4 (en) | 2020-06-03 |
AU2017344762A1 (en) | 2019-05-30 |
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