This paper studies the problem of estimating the sub-frame temporal offset between unsynchronised, non-stationary cameras. Based on motion trajectory correspondences, the estimation is done in two steps. First, we propose an algorithm to robustly estimate the frame accurate offset by analysing the trajectories and matching their characteristic time patterns. Using this result, we then show how the estimation of the fundamental matrix between two cameras can be reformulated to yield the

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... accurate offset from nine correspondences. We verify the robustness and performance of our approach on synthetic data as well as on real video sequences.