Adding synchronization and rolling shutter in multi-camera bundle adjustment

Abstract

Multi-cameras built by fixing together several consumer cameras become popular and are convenient for applications like 360 videos. However, their self-calibration is not easy since they are composed of several unsynchronized and rolling shutter cameras. This paper introduces a new bundle adjustment for these multi-cameras that estimates not only the usual parameters (camera poses and 3D points) but also the synchronization and the rolling shutter of the cameras. We experiment using videos taken by GoPro cameras mounted on a helmet, moving along trajectories of several hundreds of meters or kilometers, and compare our results to ground truth.