Visual odometry for non-overlapping views using second-order cone programming

Authors:
Jae-Hak Kim;Richard Hartley;Jan-Michael Frahm;Marc Pollefeys
Affiliations:
Research School of Information Sciences and Engineering, The Australian National University, National ICT Australia;Research School of Information Sciences and Engineering, The Australian National University, National ICT Australia;Department of Computer Science, University of North Carolina at Chapel Hill;Department of Computer Science, University of North Carolina at Chapel Hill
Venue:
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Year:
2007

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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.