A single linear system, built from first-order camera dynamics, recovers normalized velocity and 3D points from asynchronous point tracks with minimal solutions of three, four, or six points.
Rolling shut- ter camera relative pose: Generalized epipolar geometry
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A Linear N-Point Solver for Structure and Motion from Asynchronous Tracks
A single linear system, built from first-order camera dynamics, recovers normalized velocity and 3D points from asynchronous point tracks with minimal solutions of three, four, or six points.