Systems and methods for correcting rolling shutter artifacts

A system for compensating for rolling shutter artifacts, comprising:

• a rolling shutter sensor comprising a plurality of sensor rows, wherein different sensor rows in the plurality of sensor rows output sensor data at different times, such that the sensor data output from different sensor rows in the plurality of sensor rows are temporally offset;
• one or more processors;
• and
• one or more hardware storage devices having stored computer-executable instructions that are operable, when executed by the one or more processors, to configure the system to:
• obtain a 3D representation of an environment comprising a plurality of points that represent the environment;
• identify a plurality of readout timepoints comprising a different readout timepoint for each different sensor row of the plurality of sensor rows of the rolling shutter sensor while the rolling shutter sensor captures an image of the environment;
• identify a plurality of readout poses comprising a separate readout pose associated with the system for each different readout timepoint of the plurality of readout timepoints and for each different sensor row of the plurality of sensor rows;
• obtain a plurality of 2D coordinates comprising a corresponding 2D coordinate for each point of a set of points of the 3D representation of the environment by projecting each point of the set of points based on a default pose associated with a default sensor row of the plurality of sensor rows of the rolling shutter sensor;
• identify a plurality of estimated sensor rows comprising a corresponding estimated sensor row of the plurality of sensor rows for each point of the set of points, wherein the corresponding estimated sensor row for any particular point of the set of points is based on the corresponding 2D coordinate for the particular point;
• identify a plurality of projection poses comprising a corresponding projection pose for each point of the set of points, wherein the corresponding projection pose for any particular point of the set of points corresponds to the separate readout pose that is associated with the corresponding estimated sensor row for the particular point;
• and
• project one or more points of the set of points based on the corresponding projection pose for each point in the set of points.