Skydio X10 Rolling Shutter Correction for accurate 3D reconstructions

Rolling Shutter Correction (RSC) compensates for distortion in still images captured with a rolling-shutter sensor.

A rolling shutter captures an image line-by-line. If the drone moves during capture, straight objects can appear warped. The degree of warping can vary by the speed of the drone and also how far away the scene is. The RSC algorithm considers the Skydio X10 camera parameters and uses velocity and range data to model distortion and correct image geometry.

Rolling shutter corrections reducing capture motion

Why it matters

Photogrammetry reconstructs the scene by matching visual features between images and using that to triangulate 3D information. Being able to understand how each pixel maps to the 3D scene precisely is key to doing this accurately. 

By de-warping the image, RSC improves the quality of mapping and photogrammetry outputs:

• Better camera model estimation
• More consistent images for feature matching
• Fewer distortion artifacts in reconstruction
• Improved horizontal and vertical accuracy when other error sources are minimized

In short: cleaner inputs, more reliable outputs.

When RSC is applied

RSC is applied to images captured in Map Capture missions with an active RTK/PPK attachment with the wide camera on VTL300-L and the narrow camera on both VTL300-L and VTL300-Z.

[note] RSC is not applied to MP4 video. Photogrammetry performance is typically better with the Wide Camera due to greater scene coverage. Narrow Camera performance has not been deeply evaluated. [/note]

How it works

RSC uses motion and range information, alongside precise timing information to correct each image.

Input

• Camera pose over time (IMU / state estimation)
• Angular velocity (rotation) and linear velocity (translation)
• Camera timing (exposure and row readout)
• Scene distance model (typically a ground-plane approximation)

Output

• Adjusted pixel geometry that reflects where each part of the image was captured in space and time, producing an image that is not subject to rolling shutter artefacts, equivalent to how a global shutter image would have been. 

RMSE error at 400 ft altitude and 20 mph (VT300-L): 5–10 cm pre-RSC, reduced to <3 cm post-RSC.
 

How to verify RSC

Capture report (fast check)

For mapping missions, the capture report may indicate:

• Rolling Shutter Correction: Enabled

Photo metadata (authoritative)

Check the CameraCorrection field:

• None → no correction applied
• RollingShutter → RSC applied

Skydio Inc., A0639