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We propose a technique for joint calibration of a wide-angle rolling shutter camera (e.g. a GoPro) and an externally mounted gyroscope. The calibrated parameters are time scaling and offset, relative pose between gyroscope and camera, and gyroscope bias. The parameters are found using non-linear least squares minimisation using the symmetric transfer error(More)
In this paper we introduce an efficient method to unwrap multi-frequency phase estimates for time-of-flight ranging. The algorithm generates multiple depth hypotheses and uses a spatial kernel density estimate (KDE) to rank them. The confidence produced by the KDE is also an effective means to detect outliers. We also introduce a new closed-form expression(More)
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