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Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming

Kim, Jae-Hak; Hartley, Richard; Frahm, Jan-Michael; Pollefeys, Marc


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...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Computer Vision - Proceedings of the 8th Asian Conference on Computer Vision (ACCV 2007)


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01_Kim_Visual_Odometry_for_2007.pdf3.39 MBAdobe PDF    Request a copy
02_Kim_Visual_Odometry_for_2007.pdf141.48 kBAdobe PDF    Request a copy

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