Sequential Motion and Scene Reconstruction from Image Sequences Captured by a Multi-camera System
J.-H. Kim, Myung Jin Chung, Chunsu Park, Ik-Hyun Lee · 2006
This paper deals with structure and motion estimation by using image sequences captured by a multi-camera system moving in a scene. Single camera systems with a relatively small field of view have limited accuracy because of the inherent confusion between translation and rotation. This is also the case for the stereo camera systems if the systems need the intersection of the fields of view for stereo correspondence. The cameras constituting the multi-camera system considered ultimately in this paper are arranged so that there is no, or a small, intersection of the fields of view. This configuration improves the accuracy of the structure and motion estimation because the ambiguity mentioned above decreases due to a large field of view. We propose a recursive algorithm for real time applications of the multi-camera system using long term image sequences, which have appearing and disappearing point features. The results of the experiments with long term real image sequences are presented to demonstrate the feasibility of the algorithm. 1