ROLLING SHUTTER COMPENSATION

Provided are methods for rolling shutter compensation, which can include causing a rolling shutter camera to capture an image of an environment; determining a first position in the environment, the first position captured in the image; and determining, by the at least one processor, a second position in the image that corresponds to the first position in the environment. Determining the second position includes applying a first approximation that relative movement between the rolling shutter camera and the first position is linear during the capture of the image, applying a second approximation that a distortion function characterizing the rolling shutter camera is linear, and based at least on the first approximation and the second approximation, determining a particular time at which light representative of the first position in the environment is detected by the rolling shutter camera. Systems and computer program products are also provided.