BUNDLE ADJUSTMENT FOR MULTI-CAMERA SYSTEMS WITH POINTS AT INFINITY
نویسندگان
چکیده
منابع مشابه
Bundle Adjustment for Multi-camera Systems with Points at Infinity
We present a novel approach for a rigorous bundle adjustment for omnidirectional and multi-view cameras, which enables an efficient maximum-likelihood estimation with image and scene points at infinity. Multi-camera systems are used to increase the resolution, to combine cameras with different spectral sensitivities (Z/I DMC, Vexcel Ultracam) or – like omnidirectional cameras – to augment the e...
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This paper presents a concept and first experiments on a keyframe-based incremental bundle adjustment for real-time structure and motion estimation in an unknown scene. In order to avoid periodic batch steps, we use the software iSAM2 for sparse nonlinear incremental optimization, which is highly efficient through incremental variable reordering and fluid relinearization. We adapted the softwar...
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We present a calibration method for multi-view cameras that provides a rigorous maximum likelihood estimation of the mutual orientation of the cameras within a rigid multi-camera system. No calibration targets are needed, just a movement of the multi-camera system taking synchronized images of a highly textured and static scene. Multi-camera systems with non-overlapping views have to be rotated...
متن کاملTechnical Report Bundle Adjustment and System Calibration with Points at Infinity for Omnidirectional Cameras
We present a calibration method for multi-view cameras which provides a rigorous maximum-likelihood estimation of the mutual orientation of the cameras within a rigid multi-camera system. No calibration targets are needed just a movement of the multi-camera system taking synchronized images of a high textured and static scene. Multi-camera systems with non-overlapping views have to be rotated w...
متن کاملAdding Synchronization and Rolling Shutter in Multi-Camera Bundle Adjustment
This paper introduces a new bundle adjustment for multi-cameras, that simultaneously estimates not only the usual parameters (poses and points) but also the synchronization and the rolling shutter. We start from an initial calibration with a global shutter camera model (GS) and a frameaccurate synchronization provided by previous self-calibration methods [1]. Our BA provides subframe-accurate s...
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ژورنال
عنوان ژورنال: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2012
ISSN: 2194-9050
DOI: 10.5194/isprsannals-i-3-75-2012