{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robust-gyroscope-aided-camera-self","title":"Robust Gyroscope-Aided Camera Self-Calibration","arxiv_id":"1805.12506","date":"2018-05-31","proceeding":null,"authors":["Santiago Cortés Reina","Arno Solin","Juho Kannala"],"abstract":"Camera calibration for estimating the intrinsic parameters and lens\ndistortion is a prerequisite for various monocular vision applications\nincluding feature tracking and video stabilization. This application paper\nproposes a model for estimating the parameters on the fly by fusing gyroscope\nand camera data, both readily available in modern day smartphones. The model is\nbased on joint estimation of visual feature positions, camera parameters, and\nthe camera pose, the movement of which is assumed to follow the movement\npredicted by the gyroscope. Our model assumes the camera movement to be free,\nbut continuous and differentiable, and individual features are assumed to stay\nstationary. The estimation is performed online using an extended Kalman filter,\nand it is shown to outperform existing methods in robustness and insensitivity\nto initialization. We demonstrate the method using simulated data and empirical\ndata from an iPad.","url_abs":"http://arxiv.org/abs/1805.12506v1","url_pdf":"http://arxiv.org/pdf/1805.12506v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robust-gyroscope-aided-camera-self","repo_url":"https://github.com/AaltoVision/camera-gyro-calibration","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"camera-calibration","task_name":"Camera Calibration"},{"task_slug":"video-stabilization","task_name":"Video Stabilization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}