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Carnegie Mellon Robotics Institute

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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.

Keywords

Camera Motion Estimation, multiple cameras, Spherical assumption

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Junsik Kim, Myung Hwangbo, and Takeo Kanade, "Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles," IEEE International Conference on Robotics and Automation, May, 2008.

BibTeX Reference

@inproceedings{Kim_2008_6078,
   author = "Junsik Kim and Myung Hwangbo and Takeo Kanade",
   title = "Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2008",
}

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