# Minimal Solvers for Monocular Rolling Shutter Compensation under Ackermann Motion

arXiv: https://arxiv.org/abs/1712.03159 · HTML: https://mlsanity.com/paper/1712.03159/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Dec 2017.

## Built on by (most cited first, 10 of 10)

- [SUNet: Symmetric Undistortion Network for Rolling Shutter Correction](https://mlsanity.com/paper/2108.04775/) (2021)
- [Context-Aware Video Reconstruction for Rolling Shutter Cameras](https://mlsanity.com/paper/2205.12912/) (2022)
- [Towards Nonlinear-Motion-Aware and Occlusion-Robust Rolling Shutter Correction](https://mlsanity.com/paper/2303.18125/) (2023)
- [Neural Global Shutter: Learn to Restore Video from a Rolling Shutter Camera with Global Reset Feature](https://mlsanity.com/paper/2204.00974/) (2022)
- [Order-One Rolling Shutter Cameras](https://mlsanity.com/paper/2403.11295/) (2024)
- [Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras](https://mlsanity.com/paper/2506.22069/) (2025)
- [Self-Supervised Scene Dynamic Recovery from Rolling Shutter Images and Events](https://mlsanity.com/paper/2304.06930/) (2023)
- [Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks](https://mlsanity.com/paper/2508.17537/) (2025)
- [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)

## Abstract (arXiv)

Modern automotive vehicles are often equipped with a budget commercial rolling shutter camera. These devices often produce distorted images due to the inter-row delay of the camera while capturing the image. Recent methods for monocular rolling shutter motion compensation utilize blur kernel and the straightness property of line segments. However, these methods are limited to handling rotational motion and also are not fast enough to operate in real time. In this paper, we propose a minimal solver for the rolling shutter motion compensation which assumes known vertical direction of the camera. Thanks to the Ackermann motion model of vehicles which consists of only two motion parameters, and two parameters for the simplified depth assumption that lead to a 4-line algorithm. The proposed minimal solver estimates the rolling shutter camera motion efficiently and accurately. The extensive experiments on real and simulated datasets demonstrate the benefits of our approach in terms of qualitative and quantitative results.