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Motion Estimation for Nonoverlapping Multicamera Rigs: Linear Algebraic and L infinity Geometric Solutions

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]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: IEEE Transactions on Pattern Analysis and Machine Intelligence
DOI: 10.1109/TPAMI.2009.82


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