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Robust 6DOF Motion Estimation for Non-Overlapping, Multi-Camera Systems

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


This paper introduces a novel, robust approach for 6DOF motion estimation of a multi-camera system with non-overlapping views. The proposed approach is able to solve the pose estimation, including scale, for a two camera system with non-overlapping views. In contrast to previous approaches, it degrades gracefully if the motion is close to degenerate. For degenerate motions the technique estimates the remaining 5DOF. The proposed technique is evaluated on real and synthetic sequences.

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of IEEE Workshop on Applications of Computer Vision (WACV 2008)
DOI: 10.1109/WACV.2008.4544011


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