Real time camera ego-motion compensation and lens undistortion on GPU
Johan Hedborg, Tomas Johansson · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2007
This paper describes a GPU implementation for simultaneous camera ego-motion compensation and lens undistortion. The main idea is to transform the image under an ego-motion constraint so that trackedpoints in the image, that are assumed to come from the ego-motion, maps as close as possible to their averageposition in time. The lens undistortion is computed si-multaneously. We compare the performance with and without compensation using two measures; mean timedifference and mean statistical background subtraction.