@TechReport{Albl-TR-2014-26,
  IS = { zkontrolovano 20 Jan 2015 },
  UPDATE  = { 2015-01-20 },
author =      {Albl, {\v C}en{\v e}k and Zuzana, K{\'u}kelov{\'a} and
                  Pajdla, Tom{\'a}{\v s}},
title =       {{RnP} = Rolling Shutter Absolute Pose Problem},
institution = {Center for Machine Perception, K13133 FEE
               Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2014},
month =       {December},
type =        {Research Report},
number =      {CTU--CMP--2014--26},
issn =        {1213-2365},
pages =       {9},
figures =     {10},
authorship =  {34-33-33},
project =     {SGS13/202/OHK3/3T/13,FP7-SPACE-2012-312377,TA02011275},
annote =      {We present a minimal, non-iterative solution to the
                  absolute pose problem for images from rolling
                  shutter cameras. Absolute pose problem is a key
                  problem in computer vision and rolling shutter is
                  present in a vast majority of today's digital
                  cameras. We propose several rolling shutter camera
                  models and verify their feasibility for a polynomial
                  solver. A solution based on linearized camera model
                  is chosen and verified in several experiments. We
                  use a linear approximation to the camera
                  orientation, which is meaningful only around the
                  identity rotation. We show that the standard P3P
                  algorithm is able to estimate camera orientation
                  within 6 degrees for camera rotation velocity as
                  high as 30deg/frame. Therefore we can use the
                  standard P3P algorithm to estimate camera
                  orientation and to bring the camera rotation matrix
                  close to the identity. Using this solution, camera
                  position, orientation, translational velocity and
                  angular velocity can be computed using six 2D-to-3D
                  correspondences, with oreintation error under half a
                  degree and relative position error under 2\%. A
                  significant improvement in terms of the number of
                  inliers in RANSAC is demonstrated.},
keywords =    {absolute pose, SfM, rolling shutter},
comment =     {Confidential.},
}