  The rolling shutter camera has received great attention due to its low cost
imaging capability, however, the estimation of relative pose between rolling
shutter cameras still remains a difficult problem owing to its line-by-line
image capturing characteristics. To alleviate this problem, we exploit
gyroscope measurements, angular velocity, along with image measurement to
compute the relative pose between rolling shutter cameras. The gyroscope
measurements provide the information about instantaneous motion that causes the
rolling shutter distortion. Having gyroscope measurements in one hand, we
simplify the relative pose estimation problem and find a minimal solution for
the problem based on the Grobner basis polynomial solver. The proposed method
requires only five points to compute relative pose between rolling shutter
cameras, whereas previous methods require 20 or 44 corresponding points for
linear and uniform rolling shutter geometry models, respectively. Experimental
results on synthetic and real data verify the superiority of the proposed
method over existing relative pose estimation methods.
