Structure and motion problems for multiple rigidly moving cameras
Stewenius, Henrik; Åström, Karl (2004). Structure and motion problems for multiple rigidly moving cameras In Computer Vision - ECCV 2004 (Lecture Notes in Computer Science), 3023,, 252 - 263: Springer
Book Chapter
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Published
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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.
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