An original method for computing instantaneous 3D pose and velocity of fast moving objects using a single view is presented. It exploits image deformations induced by rolling shutter in CMOS image sensors. First of all, a general perspective projection model of a moving 3D point is presented. A solution for the pose and velocity recovery problem is then described. The method is based on bundle adjustment and uses point correspondences. The resulting algorithm enables to transform a CMOS low cost and low power camera into an original velocity sensor. Finally, experimental results with real data confirm the relevance of the approach.