Abstract
Vision (both using one-dimensional and two-dimensional retina) is useful for the autonomous navigation of vehicles. In this paper the case of a vehicle equipped with multiple cameras with non-overlapping views is considered. The geometry and algebra of such a moving platform of cameras are considered. In particular we formulate and solve structure and motion problems for a few novel cases of such moving platforms. For the case of two-dimensional retina cameras (ordinary cameras) there are two minimal cases of three points in two platform positions and two points in three platform positions. For the case of one-dimensional retina cameras there are three minimal structure and motion problems. In this paper we consider one of these (6 points in 3 platform positions). The theory has been tested on synthetic data.
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Stewenius, H., Åström, K. (2004). Structure and Motion Problems for Multiple Rigidly Moving Cameras. In: Pajdla, T., Matas, J. (eds) Computer Vision - ECCV 2004. ECCV 2004. Lecture Notes in Computer Science, vol 3023. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24672-5_20
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DOI: https://doi.org/10.1007/978-3-540-24672-5_20
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