Structure and motion problems for multiple rigidly moving cameras

Stewenius, Henrik; Åström, Karl (2004). Structure and motion problems for multiple rigidly moving cameras In , 3023,, 252 - 263: Springer
Download:
URL:
DOI:
Book Chapter | Published | English
Authors:
Stewenius, Henrik ; Åström, Karl
Department:
Mathematics (Faculty of Engineering)
Abstract:
Vision (both using one-dimensional and two-dimensional retina) 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 are considered. In particular we formulate and solve structure and motion problems for a few novel cases of such moving platforms. For the case of two-dimensional retina cameras (ordinary cameras) there are two minimal cases of three points in two platform positions and two points in three platform positions. For the case of one-dimensional retina cameras there are three minimal structure and motion problems. In this paper we consider one of these (6 points in 3 platform positions). The theory has been tested on synthetic data.
ISBN:
978-3-540-21982-8
ISSN:
0302-9743
LUP-ID:
f46f7535-c157-47e9-b274-b9bd17f9cace | Link: https://lup.lub.lu.se/record/f46f7535-c157-47e9-b274-b9bd17f9cace | Statistics

Cite this