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ACCV
2007
Springer

Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming

9 years 4 months ago
Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming
Abstract. We present a solution for motion estimation for a set of cameras which are firmly mounted on a head unit and do not have overlapping views in each image. This problem relates to ego-motion estimation of multiple cameras, or visual odometry. We reduce motion estimation to solving a triangulation problem, which finds a point in space from multiple views. The optimal solution of the triangulation problem in Linfinity norm is found using SOCP (Second-Order Cone Programming) Consequently, with the help of the optimal solution for the triangulation, we can solve visual odometry by using SOCP as well.
Jae-Hak Kim, Richard I. Hartley, Jan-Michael Frahm
Added 06 Jun 2010
Updated 06 Jun 2010
Type Conference
Year 2007
Where ACCV
Authors Jae-Hak Kim, Richard I. Hartley, Jan-Michael Frahm, Marc Pollefeys
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