Dynamical models for position measurement with global shutter and rolling shutter cameras

Vision can be used as a sensor for measuring the position of a visual marker. When the displacement of the marker over the camera exposure time is significant, the obtained position measurement is an image of the trajectory over the exposure time. This paper deals with dynamical models providing a prediction of the measurement from the continuous-time trajectory. The first contribution of the paper consists in the development of models for the global shutter and rolling shutter modes with variable exposure time. The second contribution consists in a methodology for the validation of these models. This methodology is used for validating the model of a camera with global shutter mode with full exposure time.