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Rolling shutter parameters for consumer cameras

Table 1 The readout times estimated by using a LED panel, a function generator and an oscilloscope, copied from [1].

Note that frame readout time = image height * line delay.

Camera Resolution Frame rate Mean frame readout time Frame readout time standard deviation #Estimates
name and identifier px x px Hz millisecond millisecond 1
iPhone 3GS 640 x 480 30 30.84 0.36 7
iPhone 4(#1) 1280 × 720 30 31.98 0.25 6
iPhone 4(#2) 1280 × 720 30 32.37 0.27 4
iPhone 4(#1,front) 640 × 480 30 29.99 0.16 5
iTouch 4 1280 × 720 30 30.07 0.25 5
iTouch 4 (front) 640 × 480 30 31.39 0.07 5
HTC Desire 640 × 480 < 30 57.84∗ 0.051 3
HTC Desire 1280 × 720 < 30 43.834∗ 0.034 4
SE W890i 320 × 240 14.706 60.78 0.16 4
SE Xperia X10 640 × 480 < 30 28.386∗ 0.024 4
SE Xperia X10 800 × 480 < 30 27.117∗ 0.040 5

* reports one of several readout times mostly likely used by the camera in that setting.

Table 2 The readout times estimated by panning the camera while viewing a vertical line, copied from [2].

For the full list, please refer to [2]. Note that rolling shutter amount = frame readout time * frame rate.

Camera Resolution Frame rate Rolling shutter amount Rolling shutter amount std. dev. Mean frame readout time* Frame readout time std. dev.
name and identifier px x px Hz 0.01 0.01 millisecond millisecond
GoPro Hero3+ Black Edition, wide FOV 1920x1080 60 88.89 14.82
GoPro Hero3+ Black Edition, narrow FOV 1920x1080 60 86.05 14.34
iPhone 4 1280x720 30 97 2 32.33 0.67
IPhone 5 1920x1080 30 82.1 0.1 27.37 0.03
IPhone 5 1920x1080 24 65.8 0.1 27.42 0.04
IPhone 5, stabilization off, 3rd party app 1920x1080 30 89.6 0.1 29.87 0.03
IPhone 5, 3rd party app 720x480 30 67.8 0.2 22.60 0.07
Samsung Galaxy S3 1920x1080 30 90 1 30.00 0.33

Table 3 The readout times estimated by moving the camera by hand in front of a checkboard, copied from [3].

Camera Resolution Frame rate Mean line delay Line delay std. dev. Mean frame readout time* Frame readout time std. dev. #Estimates
name and identifier px x px Hz 0.01 0.01 millisecond millisecond 1
iPhone3GS 640x480 30 64.41 0.11 30.92 0.05 5
iPhone4S 1920x1080 30 24.12 0.52 26.05 0.56 12
Galaxy S3 1920x1080 30 30.25 0.68 32.67 0.73 7

Table 4 The readout times for drone cameras, copied from [4].

Drone Camera Resolution (px x px) Shutter type Sensor Lens Horizontal / vertical field of view (deg) Estimated readout time (ms)
DJI Phantom 2 Vision+ FC200 4384x3288 rolling 1/2.3” CMOS fisheye 110/80 74
DJI Inspire 1 FC300X 4000x3000 rolling 1/2.3” CMOS perspective 85/70 30
3DR Solo GoPro 4 Black 4000x3000 rolling 1/2.3” CMOS fisheye 125/95 30
senseFly eBee Canon S110 4000x3000 global 1/1.7” CMOS perspective 71/56 0

Table 5 The readout time estimated by a LED panel [5].

Camera Resolution Frame rate Mean line delay Line delay std. dev. Nominal frame readout time Mean frame readout time* Frame readout time std. dev. #Estimates
name and identifier px x px Hz microsecond microsecond millisecond millisecond millisecond 1
Honor V10 1280x720 30 28.72 0.18 20.733 20.68 0.13 121
iPhone 6S 1280x720 30 20.85 0.49 x 15.01 0.35 122
Phab2 Pro 1280x720 30 43.6 0.41 30.255 31.39 0.30 85
Zenfone AR 1280x720 26 10.3 0.43 5.469 7.42 0.31 100

References

[1] E. Ringaby and P. Forssén, "Efficient Video Rectification and Stabilisation for Cell-Phones," International Journal of Computer Vision, 96, 335-352, 2011. https://www.diva-portal.org/smash/get/diva2:505943/FULLTEXT01.pdf.

[2] G. Thalin, Deshaker video stabilizer plugin v2.5 for VirtualDub, 2010. http://www.guthspot.se/video/deshaker.htm

[3] L. Oth, P. Furgale, L. Kneip and R. Siegwart, "Rolling Shutter Camera Calibration," 2013 IEEE Conference on Computer Vision and Pattern Recognition, 2013, pp. 1360-1367, doi: 10.1109/CVPR.2013.179.

[4] J. Vautherin, S. Rutishauser, K. Schneider-Zapp, H. F. Choi, V. Chovancova, A. Glass, and C. Strecha, "Photogrammetric accuracy and modeling of rolling shutter cameras," ISPRS Annals of Photogrammetry, Remote Sensing & Spatial Information Sciences, 3(3), 2016.

[5] J. Huai, Y. Zhuang, B. Wang, C. Zhang, Y. Shao, J. Tang, and A. Yilmaz, "Automated rolling shutter calibration with an LED panel," Optics Letters 48, 847-850, 2023.