Please use this identifier to cite or link to this item: https://hdl.handle.net/2440/85512
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Type: Conference paper
Title: Linear approach to motion estimation using generalized camera models
Author: Li, H.
Hartley, R.
Kim, J.-H.
Citation: Proceedings / CVPR, IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2008, pp.1-8
Publisher: IEEE
Issue Date: 2008
ISBN: 9781424422432
ISSN: 1063-6919
Conference Name: IEEE Conference on Computer Vision and Pattern Recognition (23 Jun 2013 - 28 Jun 2013 : Anchorage, AK)
Statement of
Responsibility: 
Hongdong Li, Richard Hartley, Jae-hak Kim
Abstract: A well-known theoretical result for motion estimation using the generalized camera model is that 17 corresponding image rays can be used to solve linearly for the motion of a generalized camera. However, this paper shows that for many common configurations of the generalized camera models (e.g., multi-camera rig, catadioptric camera etc.), such a simple 17-point algorithm does not exist, due to some previously overlooked ambiguities. We further discover that, despite the above ambiguities, we are still able to solve the motion estimation problem effectively by a new algorithm proposed in this paper. Our algorithm is essentially linear, easy to implement, and the computational efficiency is very high. Experiments on both real and simulated data show that the new algorithm achieves reasonably high accuracy as well.
Rights: ©2008 IEEE
DOI: 10.1109/CVPR.2008.4587545
Appears in Collections:Aurora harvest 2
Computer Science publications

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