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Motion estimation using multiple non-overlapping cameras for small unmanned aerial vehicles

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3 Author(s)
Jun-Sik Kim ; Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA ; Myung Hwangbo ; Kanade, T.

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.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008