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An Efficient Minimal Solution for Multi-Camera Motion
AbstractWe propose an efficient method for estimating the motion of a multi-camera rig from a minimal set of feature correspondences. Existing methods for solving the multi-camera relative pose problem require extra correspondences, are slow to compute, and/or produce a multitude of solutions. Our solution uses a first-order approximation to relative pose in order to simplify the problem and produce an accurate estimate quickly. The solver is applicable to sequential multi-camera motion estimation and is fast enough for real-time implementation in a random sampling framework. Our experiments show that our approach is both stable and efficient on challenging test sequences.
Related Material
[pdf][bibtex]@InProceedings{Ventura_2015_ICCV,
author = {Ventura, Jonathan and Arth, Clemens and Lepetit, Vincent},
title = {An Efficient Minimal Solution for Multi-Camera Motion},
booktitle = {Proceedings of the IEEE International Conference on Computer Vision (ICCV)},
month = {December},
year = {2015}
}
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