  In this paper, we present a novel linear algorithm to estimate the 6 DoF
relative pose from consecutive frames of stereo rolling shutter (RS) cameras.
Our method is derived based on the assumption that stereo cameras undergo
motion with constant velocity around the center of the baseline, which needs 9
pairs of correspondences on both left and right consecutive frames. The stereo
RS images enable the recovery of depth maps from the semi-global matching (SGM)
algorithm. With the estimated camera motion and depth map, we can correct the
RS images to get the undistorted images without any scene structure assumption.
Experiments on both simulated points and synthetic RS images demonstrate the
effectiveness of our algorithm in relative pose estimation.
