An Efficient Minimal Solution for Multi-camera Motion

Summary form only given. We 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...

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Bibliographic Details
Main Authors: Ventura, Jonathan, Arth, Clemens, Lepetit, Vincent
Format: Conference Proceeding
Language:English
Subjects:
Approximation
Cameras
Computer science
Computer vision
Conferences
Mathematical analysis
Mathematical models
Motion estimation
Motion simulation
Random sampling
Real-time systems
Solvers
Springs
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Description
Summary:Summary form only given. We 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.
ISSN:2380-7504
DOI:10.1109/ICCV.2015.92