Finding the position and orientation of a sensor on a robot manipulator using quaternions
International Journal of Robotics Research
International Journal of Robotics Research
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Metric calibration of a stereo rig
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Spherical approximation for multiple cameras in motion estimation: Its applicability and advantages
Computer Vision and Image Understanding
Estimating the mutual orientation in a multi-camera system with a non overlapping field of view
PIA'11 Proceedings of the 2011 ISPRS conference on Photogrammetric image analysis
Rotation averaging with application to camera-rig calibration
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Parallel tracking and mapping with multiple cameras on an unmanned aerial vehicle
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
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A simple, stable and generic approach for estimation of relative positions and orientations of multiple rigidly coupled cameras is presented in this paper. The algorithm does not impose constraints on the field of view of the cameras and works even in the extreme case when the sequences from the different cameras are totally disjoint (i.e. when no part of the scene is captured by more than one camera). The influence of the rig motion on the existence of a unique solution is investigated and degenerate rig motions are identified. Each camera captures an individual sequence which is afterwards processed by a structure and motion (SAM) algorithm resulting in positions and orientations for each camera. The unknown relative transformations between the rigidly coupled cameras are estimated utilizing the rigidity constraint of the rig.