# Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras

arXiv: https://arxiv.org/abs/2506.22069 · HTML: https://mlsanity.com/paper/2506.22069/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 81 references that are in the map.
- First posted on arXiv 27 Jun 2025.

## Builds on (most cited first, 26 of 26)

- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [GlueStick: Robust Image Matching by Sticking Points and Lines Together](https://mlsanity.com/paper/2304.02008/) (2023)
- [DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients](https://mlsanity.com/paper/2212.07766/) (2022)
- [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)
- [From two rolling shutters to one global shutter](https://mlsanity.com/paper/2006.01964/) (2020)
- [PLMP -- Point-Line Minimal Problems in Complete Multi-View Visibility](https://mlsanity.com/paper/1903.10008/) (2019)
- [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)
- [Direct Sparse Odometry with Rolling Shutter](https://mlsanity.com/paper/1808.00558/) (2018)
- [USB-NeRF: Unrolling Shutter Bundle Adjusted Neural Radiance Fields](https://mlsanity.com/paper/2310.02687/) (2023)
- [Minimal Solvers for Monocular Rolling Shutter Compensation under Ackermann Motion](https://mlsanity.com/paper/1712.03159/) (2017)
- [Image Stitching and Rectification for Hand-Held Cameras](https://mlsanity.com/paper/2008.09229/) (2020)
- [Towards Nonlinear-Motion-Aware and Occlusion-Robust Rolling Shutter Correction](https://mlsanity.com/paper/2303.18125/) (2023)
- [Self-supervised Learning to Bring Dual Reversed Rolling Shutter Images Alive](https://mlsanity.com/paper/2305.19862/) (2023)
- [Gyroscope-aided Relative Pose Estimation for Rolling Shutter Cameras](https://mlsanity.com/paper/1904.06770/) (2019)
- [Relative Pose Estimation for Stereo Rolling Shutter Cameras](https://mlsanity.com/paper/2006.07807/) (2020)
- [Rolling Shutter Inversion: Bring Rolling Shutter Images to High Framerate Global Shutter Video](https://mlsanity.com/paper/2210.03040/) (2022)
- [Inertial-aided Rolling Shutter Relative Pose Estimation](https://mlsanity.com/paper/1712.00184/) (2017)
- [Linear solution to the minimal absolute pose rolling shutter problem](https://mlsanity.com/paper/1812.11532/) (2018)
- [Order-One Rolling Shutter Cameras](https://mlsanity.com/paper/2403.11295/) (2024)
- [Minimal Rolling Shutter Absolute Pose with Unknown Focal Length and Radial Distortion](https://mlsanity.com/paper/2004.14052/) (2020)
- [URS-NeRF: Unordered Rolling Shutter Bundle Adjustment for Neural Radiance Fields](https://mlsanity.com/paper/2403.10119/) (2024)
- [Monocular Visual Odometry with a Rolling Shutter Camera](https://mlsanity.com/paper/1704.07163/) (2017)
- [RSL-BA: Rolling Shutter Line Bundle Adjustment](https://mlsanity.com/paper/2408.05409/) (2024)
- [Renormalization for Initialization of Rolling Shutter Visual-Inertial Odometry](https://mlsanity.com/paper/2008.06399/) (2020)

## Built on by (most cited first, 3 of 3)

- [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)
- [Rolling Shutter Relative Pose Estimation Made Practical](https://mlsanity.com/paper/2606.26863/) (2026)

## Abstract (arXiv)

We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera motion. Alternatively, scanlines can be selected within a single image, enabling single-view relative pose estimation for scanlines of rolling shutter cameras. Our approach is designed as a foundational building block for rolling shutter structure-from-motion (SfM), where no motion model is required, and each scanline's pose can be computed independently. % We classify minimal solvers for this problem in both generic and specialized settings, including cases with parallel lines and known gravity direction, assuming known intrinsics and no lens distortion. Furthermore, we develop minimal solvers for the parallel-lines scenario, both with and without gravity priors, by leveraging connections between this problem and the estimation of 2D structure from 1D cameras. % Experiments on rolling shutter images from the Fastec dataset demonstrate the feasibility of our approach for initializing rolling shutter SfM, highlighting its potential for further development. % The code will be made publicly available.