Kim, Jae-Hak; Li, Hongdong; Hartley, Richard
We investigate the problem of estimating the ego-motion of a multicamera rig from two positions of the rig. We describe and compare two new algorithms for finding the 6 degrees of freedom (3 for rotation and 3 for translation) of the motion. One algorithm gives a linear solution and the other is a geometric algorithm that minimizes the maximum measurement errorthe optimal L-\infty solution. They are described in the context of the General Camera Model (GCM), and we pay particular attention to...[Show more]
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