This paper addresses the stereo camera synchronization problem for dynamic scenes by proposing a new triangulation method which is invariant to the temporal offset of the cameras. Contrary to spatio-temporal alignment approaches, our method estimates the correct positions of the tracked points without explicitly estimating the temporal offset of the cameras. The method relies on epipolar geometry. In the presence of a temporal delay, a tracked point does not lie on its corresponding epipolar line, thereby inducing triangulation errors. We propose to solve this problem by intersecting its motion trajectory with the corresponding epipolar line. The method we propose does not require calibrated cameras, since it can rely on the fundamental matrix. One major advantage of our approach is that the temporal offset can change throughout the sequence. Evaluated with synthetic and real data, our method proves to be stable and robust to varying temporal offset as well as complex motions.
['Rania Benrhaiem', 'Sébastien Roy', 'Jean Meunier']
Achieving invariance to the temporal offset of unsynchronized cameras through epipolar point-line triangulation