Online Calibration and Synchronization of Rolling Shutter Camera and Gyroscope Toolbox for MATLAB

Chao Jia and Brian L. Evans
The University of Texas at Austin, Austin, TX 78712 USA

16 October 2013

Download the toolbox here. This toolbox has been tested in Matlab R2012b in Windows and Mac OS.

This toolbox is used for online calibration & synchronization of cellphone (video) camera and gyroscope. The calibration parameters include the following:

  • camera focal length
  • camera principal point
  • rolling shutter readout time
  • gyroscope bias
  • relative orientation between camera & gyroscope
  • delay between the timestamps of video and gyroscope readings.
The calibration is implemented online, using video frames one by one.

The online calibration is based on an extended Kalman filter (EKF), using a generalized coplanarity constraint on camera rotation as implicit measurements. The calibration can efficiently estimated the parameters online under arbitrary camera motion without estimating camera translation or 3D scene structure.

This MATLAB toolbox does not rely on any other MATLAB toolboxes.

This toolbox was programmed by Chao Jia. For questions on the toolbox please write to Chao Jia at


C. Jia and B. L. Evans, "Online Calibration and Synchronization of Cellphone Camera Gyroscope", Proc. IEEE Global Conference on Signal and Information Processing, Dec. 3-5, 2013, Austin, Texas USA.