# Linear solution to the minimal absolute pose rolling shutter problem

arXiv: https://arxiv.org/abs/1812.11532 · HTML: https://mlsanity.com/paper/1812.11532/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Dec 2018.

## Built on by (most cited first, 5 of 5)

- [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)
- [A Linear N-Point Solver for Structure and Motion from Asynchronous Tracks](https://mlsanity.com/paper/2507.22733/) (2025)
- [Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks](https://mlsanity.com/paper/2508.17537/) (2025)
- [Single-View Rolling-Shutter SfM](https://mlsanity.com/paper/2603.11888/) (2026)

## Abstract (arXiv)

This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present several solutions based on fixing different sets of variables and investigate the performance of them thoroughly. We design a new alternation strategy that estimates all parameters in each iteration linearly by fixing just the non-linear terms. Our best 6-point solver, based on the new alternation technique, shows an identical or even better performance than the state-of-the-art R6P solver and is two orders of magnitude faster. In addition, a linear non-iterative solver is presented that requires a non-minimal number of 9 correspondences but provides even better results than the state-of-the-art R6P. Moreover, all proposed linear solvers provide a single solution while the state-of-the-art R6P provides up to 20 solutions which have to be pruned by expensive verification.