Reconstruction from planar motion image sequences with applications for autonomous vehicles

Abstract:
Vision is useful for the autonomous navigation of vehicles. In this paper the case of a vehicle equipped with multiple cameras with non-overlapping views is considered. The geometry and algebra of such a moving platform of cameras axe considered. In particular we formulate and solve structure and motion problems for a few novel cases. There are two interesting minimal cases; three points in two platform positions and two points in three platform positions. We also investigate initial solutions for the case when image lines are used as features. In the paper is also discussed how classical algorithms such as intersection, resection and bundle adjustment can be extended to this new situation. The theory has been tested on synthetic and real data with promising results.