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Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles
J. Kim, M. Hwangbo, and T. Kanade
IEEE International Conference on Robotics and Automation, May, 2008.

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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.

Associated center: VASC

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

@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"
}