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Real-time 6D stereo visual odometry with non overlapping fields of view

Kazik, Tim; Kneip, Laurent; Nikolic, Janosch; Pollefeys, Marc; Siegwart, Roland


In this paper, we present a framework for 6D absolute scale motion and structure estimation of a multi-camera system in challenging indoor environments. It operates in real-time and employs information from two cameras with non-overlapping fields of view. Monocular Visual Odometry supplying up-to-scale 6D motion information is carried out in each of the cameras, and the metric scale is recovered via a linear solution by imposing the known static transformation between both sensors. The...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
Source: A Simple Prior-free Method for Non-Rigid Structure-from-Motion Factorization
DOI: 10.1109/CVPR.2012.6247843


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