Gyroscope-based video stabilisation with auto-calibration

Abstract

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 as cost function.