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]
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