# RSL-BA: Rolling Shutter Line Bundle Adjustment

arXiv: https://arxiv.org/abs/2408.05409 · HTML: https://mlsanity.com/paper/2408.05409/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 32 references that are in the map.
- First posted on arXiv 10 Aug 2024.

## Builds on (most cited first, 9 of 9)

- [3D Line Mapping Revisited](https://mlsanity.com/paper/2303.17504/) (2023)
- [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)
- [Robust Visual SLAM with Point and Line Features](https://mlsanity.com/paper/1711.08654/) (2017)
- [UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping](https://mlsanity.com/paper/2112.13515/) (2021)
- [Rolling-Shutter Modelling for Direct Visual-Inertial Odometry](https://mlsanity.com/paper/1911.01015/) (2019)
- [Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution](https://mlsanity.com/paper/2209.08503/) (2022)
- [Reducing Drift in Structure From Motion Using Extended Features](https://mlsanity.com/paper/2008.12295/) (2020)
- [Self-calibration-based Approach to Critical Motion Sequences of Rolling-shutter Structure from Motion](https://mlsanity.com/paper/1611.05476/) (2016)

## Built on by (most cited first, 2 of 2)

- [Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras](https://mlsanity.com/paper/2506.22069/) (2025)
- [Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks](https://mlsanity.com/paper/2508.17537/) (2025)

## Abstract (arXiv)

The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages, previous rolling shutter bundle adjustment (RSBA) methods have only supported sparse feature points, which lack robustness, particularly in degenerate environments. In this paper, we introduce the first rolling shutter line-based bundle adjustment solution, RSL-BA. Specifically, we initially establish the rolling shutter camera line projection theory utilizing Pl"ucker line parameterization. Subsequently, we derive a series of reprojection error formulations which are stable and efficient. Finally, we theoretically and experimentally demonstrate that our method can prevent three common degeneracies, one of which is first discovered in this paper. Extensive synthetic and real data experiments demonstrate that our method achieves efficiency and accuracy comparable to existing point-based rolling shutter bundle adjustment solutions.