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Estimating Camera Motion from a Single Motion-Blurred Image
Image as an IMU: Estimating Camera Motion from a Single Motion-Blurred Image
Because the true direction of a single motion-blurred image is ambiguous, we flip the velocity direction as necessary based on the photometric error between frames. We directly treat the gyroscope readings as the angular velocity ground truth, and we approximate the translational velocity ground truth using the ARKit poses and framerate. Note that the angular velocity axes are x-up, y-left, z-backwards (using the IMU convention) whereas the the translational velocity axes are x-right, y-down, z-forward (using OpenCV convention).
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