Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming
Date
2007
Authors
Kim, Jae-Hak
Hartley, Richard
Frahm, Jan-Michael
Pollefeys, Marc
Journal Title
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Volume Title
Publisher
Springer
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.
Description
Keywords
Keywords: Second-Order Cone Programming; Visual odometry; Computer programming; Computer vision; Image analysis; Problem solving; Motion estimation
Citation
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Source
Computer Vision - Proceedings of the 8th Asian Conference on Computer Vision (ACCV 2007)
Type
Conference paper
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DOI
Restricted until
2037-12-31