非重叠多相机系统的鲁棒6DOF运动估计

2008 IEEE Workshop on Applications of Computer Vision Pub Date : 2008-01-07 DOI:10.1109/WACV.2008.4544011

Brian Clipp, Jae-Hak Kim, Jan-Michael Frahm, M. Pollefeys, R. Hartley

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引用次数: 84

摘要

本文介绍了一种新的、鲁棒的非重叠多相机系统6自由度运动估计方法。该方法能够解决无重叠视角的双相机系统的姿态估计问题。与之前的方法相比，当运动接近简并时，它会优雅地退化。对于退化运动，该技术估计剩余的5DOF。在真实序列和合成序列上对该方法进行了评价。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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2008 IEEE Workshop on Applications of Computer Vision

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