Kazik, TimKneip, LaurentNikolic, JanoschPollefeys, MarcSiegwart, Roland2015-12-07June 16-211063-6919http://hdl.handle.net/1885/27168In this paper, we present a framework for 6D absolute scale motion and structure estimation of a multi-camera system in challenging indoor environments. It operates in real-time and employs information from two cameras with non-overlapping fields of view. Monocular Visual Odometry supplying up-to-scale 6D motion information is carried out in each of the cameras, and the metric scale is recovered via a linear solution by imposing the known static transformation between both sensors. The redundancy in the motion estimates is finally exploited by a statistical fusion to an optimal 6D metric result. The proposed technique is robust to outliers and able to continuously deliver a reasonable measurement of the scale factor. The quality of the framework is demonstrated by a concise evaluation on indoor datasets, including a comparison to accurate ground truth data provided by an external motion tracking system.Keywords: Data sets; Fields of views; Ground truth data; Indoor environment; Linear solution; Motion and structure; Motion estimates; Motion information; Motion tracking system; Multicamera systems; Scale Factor; Static transformation; Visual odometry; Linear trans201210.1109/CVPR.2012.62478432016-02-24