Robust Metric Velocity Estimation For Non-Overlapping Camera Systems
Résumé
This paper introduces a novel, robust and efficient
approach for metric velocity estimation using multiple cameras
with no overlapping fields of view. By incorporating rotation
priors, the metric velocity estimation problem reduces to solving
a set of linear equations. To determine the metric velocity, a
total of three temporal point correspondences provided by at
least two cameras are required. This enables the use of a 3-
point RANSAC algorithm for robust outlier rejection. To enable
the use of the algorithm on platforms with different computational
budgets, we present three approaches with increasing
computational requirements to solve for the metric velocity. The
scheme can detect if the motion of the camera system is close
to degeneracy and degrades gracefully. The proposed scheme
is evaluated using synthetic image sequences.