Order-One Rolling Shutter Cameras
Marvin Anas Hahn Kathlén Kohn Orlando Marigliano Tomas Pajdla
Rolling shutter (RS) cameras dominate consumer and smartphone markets.
Several methods for computing the absolute pose of RS cameras have appeared in
the last 20 years, but the relative pose problem has not been fully solved yet.
We provide a unified theory for the important class of order-one rolling
shutter (RS$_1$) cameras. These cameras generalize the perspective projection
to RS cameras, projecting a generic space point to exactly one image point via
a rational map. We introduce a new back-projection RS camera model,
characterize RS$_1$ cameras, construct explicit parameterizations of such
cameras, and determine the image of a space line. We classify all minimal
problems for solving the relative camera pose problem with linear RS$_1$
cameras and discover new practical cases. Finally, we show how the theory can
be used to explain RS models previously used for absolute pose computation.