Motion Estimation for Nonoverlapping Multicamera Rigs: Linear Algebraic and L∞ Geometric Solutions

@article{Kim2010MotionEF,
  title={Motion Estimation for Nonoverlapping Multicamera Rigs: Linear Algebraic and L∞ Geometric Solutions},
  author={Jae-Hak Kim and Hongdong Li and Richard I. Hartley},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2010},
  volume={32},
  pages={1044-1059}
}
We investigate the problem of estimating the ego-motion of a multicamera rig from two positions of the rig. We describe and compare two new algorithms for finding the 6 degrees of freedom (3 for rotation and 3 for translation) of the motion. One algorithm gives a linear solution and the other is a geometric algorithm that minimizes the maximum measurement error-the optimal L∞ solution. They are described in the context of the General Camera Model (GCM), and we pay particular attention to… CONTINUE READING
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