Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks

• URL: http://arxiv.org/abs/2508.17537v1
• Date: Sun, 24 Aug 2025 22:17:00 GMT
• Title: Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks
• Authors: Petr Hruby, Marc Pollefeys,
• Abstract summary: We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks.<n>We develop minimal solvers for several problems with low degrees and evaluate them on synthetic and real datasets.
• Score: 57.392895771472894
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a polynomial approximation, classify the resulting minimal problems, and determine their algebraic degrees. Furthermore, we develop minimal solvers for several problems with low degrees and evaluate them on synthetic and real datasets. The code will be made publicly available.

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