# Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution

arXiv: https://arxiv.org/abs/2209.08503 · HTML: https://mlsanity.com/paper/2209.08503/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 42 references that are in the map.
- First posted on arXiv 18 Sep 2022.

## Builds on (most cited first, 10 of 10)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [On-Manifold Preintegration for Real-Time Visual-Inertial Odometry](https://mlsanity.com/paper/1512.02363/) (2015)
- [A Photometrically Calibrated Benchmark For Monocular Visual Odometry](https://mlsanity.com/paper/1607.02555/) (2016)
- [Rolling-Shutter-Aware Differential SfM and Image Rectification](https://mlsanity.com/paper/1903.03943/) (2019)
- [Rolling Shutter Camera Relative Pose: Generalized Epipolar Geometry](https://mlsanity.com/paper/1605.00475/) (2016)
- [Rolling-Shutter Modelling for Direct Visual-Inertial Odometry](https://mlsanity.com/paper/1911.01015/) (2019)
- [Direct Sparse Odometry with Rolling Shutter](https://mlsanity.com/paper/1808.00558/) (2018)
- [Self-calibration-based Approach to Critical Motion Sequences of Rolling-shutter Structure from Motion](https://mlsanity.com/paper/1611.05476/) (2016)
- [Spline Error Weighting for Robust Visual-Inertial Fusion](https://mlsanity.com/paper/1804.04820/) (2018)

## Built on by (most cited first, 13 of 13)

- [Gaussian Splatting on the Move: Blur and Rolling Shutter Compensation for Natural Camera Motion](https://mlsanity.com/paper/2403.13327/) (2024)
- [Implicit Event-RGBD Neural SLAM](https://mlsanity.com/paper/2311.11013/) (2023)
- [USB-NeRF: Unrolling Shutter Bundle Adjusted Neural Radiance Fields](https://mlsanity.com/paper/2310.02687/) (2023)
- [Towards Nonlinear-Motion-Aware and Occlusion-Robust Rolling Shutter Correction](https://mlsanity.com/paper/2303.18125/) (2023)
- [LiveScene: Language Embedding Interactive Radiance Fields for Physical Scene Rendering and Control](https://mlsanity.com/paper/2406.16038/) (2024)
- [Order-One Rolling Shutter Cameras](https://mlsanity.com/paper/2403.11295/) (2024)
- [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)
- [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)
- [Estimating Velocity and Spin of Spherical Objects from Rolling-Shutter Image(s)](https://mlsanity.com/paper/2606.31760/) (2026)
- [CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment](https://mlsanity.com/paper/2607.15652/) (2026)
- [Rolling Shutter Camera Self-Calibration](https://mlsanity.com/paper/2608.01509/) (2026)

## Abstract (arXiv)

We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing works, namely relying on additional sensors, high frame rate video as input, restrictive assumptions on camera motion, readout direction, and poor efficiency. To this end, we first investigate the influence of normalization to the image point on RSBA performance and show its better approximation in modelling the real 6-DoF camera motion. Then we present a novel analytical model for the visual residual covariance, which can be used to standardize the reprojection error during the optimization, consequently improving the overall accuracy. More importantly, the combination of normalization and covariance standardization weighting in RSBA (NW-RSBA) can avoid common planar degeneracy without needing to constrain the filming manner. Besides, we propose an acceleration strategy for NW-RSBA based on the sparsity of its Jacobian matrix and Schur complement. The extensive synthetic and real data experiments verify the effectiveness and efficiency of the proposed solution over the state-of-the-art works. We also demonstrate the proposed method can be easily implemented and plug-in famous GSSfM and GSSLAM systems as completed RSSfM and RSSLAM solutions.