Abstract We present a solution for motion estimation for a set of cameras which are firmly mounted on a head unit and do not have overlapping views in each image. This problem relates to ego-motion estimation of multiple cameras, or visual odometry. We reduce motion estimation to solving a triangulation problem, which finds a point in space from multiple views. The optimal solution of the triangulation problem in L-infinity norm is found using SOCP (Second-Order Cone Programming) Consequently, with the help of the optimal solution for the triangulation, we can solve visual odometry by using SOCP as well.
Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming
Computer Vision – ACCV 2007 ; 5 ; 353-362
Lecture Notes in Computer Science ; 4844 , 5
2007-01-01
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Motion Estimation , Translation Direction , Multiple Camera , Visual Odometry , Omnidirectional Image Computer Science , Image Processing and Computer Vision , Computer Imaging, Vision, Pattern Recognition and Graphics , Pattern Recognition , Artificial Intelligence (incl. Robotics) , Biometrics , Algorithm Analysis and Problem Complexity
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