Rolling shutter image compensation

Abstract

This paper describes corrections to image distortion found on the Sony AIBO ERS-7 robots. When obtaining an image the camera captures each pixel in series, that is there is effectively a 'rolling shutter'. This results in a delay between the capture of the first and last pixel. When combined with movement of the camera the image produced will be distorted. The sensor values from the robot, coupled with knowledge of the camera's timing, are used to calculate the effect of the robots movement on the image. This information can then be used to remove much of the distortion from the image. The correction improves the effectiveness of shape recognition and bearing-to-object accuracy. © Springer-Verlag Berlin Heidelberg 2007.