# Rolling Shutter Camera Relative Pose: Generalized Epipolar Geometry

arXiv: https://arxiv.org/abs/1605.00475 · HTML: https://mlsanity.com/paper/1605.00475/

## Key facts

- Cited by 26 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 May 2016.

## Built on by (most cited first, 26 of 26)

- [SUNet: Symmetric Undistortion Network for Rolling Shutter Correction](https://mlsanity.com/paper/2108.04775/) (2021)
- [Bringing Rolling Shutter Images Alive with Dual Reversed Distortion](https://mlsanity.com/paper/2203.06451/) (2022)
- [Context-Aware Video Reconstruction for Rolling Shutter Cameras](https://mlsanity.com/paper/2205.12912/) (2022)
- [Learning Adaptive Warping for Real-World Rolling Shutter Correction](https://mlsanity.com/paper/2204.13886/) (2022)
- [Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution](https://mlsanity.com/paper/2209.08503/) (2022)
- [Snapshot of Algebraic Vision](https://mlsanity.com/paper/2210.11443/) (2022)
- [Towards Nonlinear-Motion-Aware and Occlusion-Robust Rolling Shutter Correction](https://mlsanity.com/paper/2303.18125/) (2023)
- [DeepOIS: Gyroscope-Guided Deep Optical Image Stabilizer Compensation](https://mlsanity.com/paper/2101.11183/) (2021)
- [Rolling Shutter Inversion: Bring Rolling Shutter Images to High Framerate Global Shutter Video](https://mlsanity.com/paper/2210.03040/) (2022)
- [Order-One Rolling Shutter Cameras](https://mlsanity.com/paper/2403.11295/) (2024)
- [Single Image Rolling Shutter Removal with Diffusion Models](https://mlsanity.com/paper/2407.02906/) (2024)
- [Continuous-Time Spatiotemporal Calibration of a Rolling Shutter Camera-IMU System](https://mlsanity.com/paper/2108.07200/) (2021)
- [URS-NeRF: Unordered Rolling Shutter Bundle Adjustment for Neural Radiance Fields](https://mlsanity.com/paper/2403.10119/) (2024)
- [Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras](https://mlsanity.com/paper/2506.22069/) (2025)
- [A Linear N-Point Solver for Structure and Motion from Asynchronous Tracks](https://mlsanity.com/paper/2507.22733/) (2025)
- [RSL-BA: Rolling Shutter Line Bundle Adjustment](https://mlsanity.com/paper/2408.05409/) (2024)
- [Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks](https://mlsanity.com/paper/2508.17537/) (2025)
- [A Revisit of the Normalized Eight-Point Algorithm and A Self-Supervised Deep Solution](https://mlsanity.com/paper/2304.10771/) (2023)
- [Let's Roll: Synthetic Dataset Analysis for Pedestrian Detection Across Different Shutter Types](https://mlsanity.com/paper/2309.08136/) (2023)
- [Simulator HC: Regression-based Online Simulation of Starting Problem-Solution Pairs for Homotopy Continuation in Geometric Vision](https://mlsanity.com/paper/2411.03745/) (2024)
- [Towards High-Frequency Tracking and Fast Edge-Aware Optimization](https://mlsanity.com/paper/2309.00777/) (2023)
- [Single-View Rolling-Shutter SfM](https://mlsanity.com/paper/2603.11888/) (2026)
- [Rolling Shutter Relative Pose Estimation Made Practical](https://mlsanity.com/paper/2606.26863/) (2026)
- [Estimating Velocity and Spin of Spherical Objects from Rolling-Shutter Image(s)](https://mlsanity.com/paper/2606.31760/) (2026)
- [Rolling Shutter Camera Self-Calibration](https://mlsanity.com/paper/2608.01509/) (2026)
- [HaRP: High Dynamic Range Photosequencing through Dual Reversed Shutter Scanning](https://mlsanity.com/paper/2609.28439/) (2026)

## Abstract (arXiv)

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into account. A dedicated relative pose solver appears to be the first problem to solve, as it is of eminent importance to bootstrap any derivation of multi-view geometry. However, despite its significance, it has received inadequate attention to date. This paper presents a detailed investigation of the geometry of the rolling shutter relative pose problem. We introduce the rolling shutter essential matrix, and establish its link to existing models such as the push-broom cameras, summarized in a clean hierarchy of multi-perspective cameras. The generalization of well-established concepts from epipolar geometry is completed by a definition of the Sampson distance in the rolling shutter case. The work is concluded with a careful investigation of the introduced epipolar geometry for rolling shutter cameras on several dedicated benchmarks.