Single-View Rolling-Shutter SfM

TL;DR

This paper investigates the geometry of rolling-shutter cameras in single-view structure-from-motion, deriving minimal problems and demonstrating the feasibility of recovering scene and motion parameters from a single image.

Contribution

It characterizes the single-view geometry of rolling-shutter cameras and systematically derives minimal reconstruction problems for various cases.

Findings

Feasibility of recovering scene and motion parameters from a single RS image

Development of proof-of-concept solvers for minimal problems

Identification of practical limitations in RS SfM

Abstract

Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines. Exploiting this geometry, we describe which motion and scene parameters can be recovered from a single RS image and systematically derive minimal reconstruction problems. We evaluate several representative cases with proof-of-concept solvers, highlighting both feasibility and practical limitations.