Six-Point Method for Multi-Camera Systems with Reduced Solution Space

arXiv:2402.18066v1 Announce Type: new
Abstract: Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for generalized cameras. In this paper, we present several minimal solvers that use six PCs to compute the 6DOF relative pose of a multi-camera system, including a minimal solver for the generalized camera and two minimal solvers for the practical configuration of two-camera rigs. The equation construction is based on the decoupling of rotation and …

abstract arxiv cameras compute cs.cv generalized paper pcs six solution space systems type