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Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles (2008)
| Citations: | 3 - 0 self |
BibTeX
@MISC{Kim08motionestimation,
author = {Jun-sik Kim and Myung Hwangbo and Takeo Kanade},
title = {Motion Estimation using Multiple Non-Overlapping Cameras for Small Unmanned Aerial Vehicles},
year = {2008}
}
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Abstract
An imaging sensor made of multiple light-weight non-overlapping cameras is an effective sensor for a small unmanned aerial vehicle that has strong payload limitation. This paper presents a method for motion estimation by assuming that such a multi-camera system is a spherical imaging system (that is, the cameras share a single optical center). We derive analytically and empirically a condition for a multi-camera system to be modeled as a spherical camera. Interestingly, not only does the spherical assumption simplify the algorithms and calibration procedure, but also motion estimation based on that assumption becomes more accurate.
Keyphrases
motion estimation small unmanned aerial vehicle multiple non-overlapping camera multi-camera system spherical assumption single optical center imaging sensor strong payload limitation effective sensor calibration procedure spherical imaging system camera share spherical camera multiple light-weight non-overlapping camera
