  The internal geometry of most modern consumer cameras is not adequately
described by the perspective projection. Almost all cameras exhibit some radial
lens distortion and are equipped with an electronic rolling shutter that
induces distortions when the camera moves during the image capture. When focal
length has not been calibrated offline, the parameters that describe the radial
and rolling shutter distortions are usually unknown. While for global shutter
cameras, minimal solvers for the absolute camera pose and unknown focal length
and radial distortion are available, solvers for the rolling shutter were
missing. We present the first minimal solutions for the absolute pose of a
rolling shutter camera with unknown rolling shutter parameters, focal length,
and radial distortion. Our new minimal solvers combine iterative schemes
designed for calibrated rolling shutter cameras with fast generalized
eigenvalue and Groebner basis solvers. In a series of experiments, with both
synthetic and real data, we show that our new solvers provide accurate
estimates of the camera pose, rolling shutter parameters, focal length, and
radial distortion parameters.
