Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3076 - 3081, May, 2008
Abstract
An imaging sensor made of multiple light-weight non-overlapping cameras is an effective sensor for a small unmanned aerial vehicle that has strong payload limitation. This paper presents a method for motion estimation by assuming that such a multi-camera system is a spherical imaging system (that is, the cameras share a single optical center). We derive analytically and empirically a condition for a multi-camera system to be modeled as a spherical camera. Interestingly, not only does the spherical assumption simplify the algorithms and calibration procedure, but also motion estimation based on that assumption becomes more accurate.
BibTeX
@conference{Kim-2008-9953,author = {Junsik Kim and Myung Hwangbo and Takeo Kanade},
title = {Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2008},
month = {May},
pages = {3076 - 3081},
keywords = {Camera Motion Estimation, multiple cameras, Spherical assumption},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.