A Unified Rolling Shutter and Motion Blur Model for 3D Visual Registration

Abstract

Motion blur and rolling shutter deformations both inhibit visual motion registration, whether it be due to a moving sensor or a moving target. Whilst both deformations exist simultaneously, no models have been proposed to handle them together. Furthermore, neither deformation has been considered previously in the context of monocular full-image 6 degrees of freedom registration or RGB-D structure and motion. As will be shown, rolling shutter deformation is observed when a camera moves faster than a single pixel in parallax between subsequent scan-lines. Blur is a function of the pixel exposure time and the motion vector. In this paper a complete dense 3D registration model will be derived to account for both motion blur and rolling shutter deformations simultaneously. Various approaches will be compared with respect to ground truth and live real-time performance will be demonstrated for complex scenarios where both blur and shutter deformations are dominant.