Computing Camera Positions from a Multi-Camera Head

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ConferenceThird International Conference on Recent Advances in 3D Imaging and Modelling, June 2001., Québec, Québec, Canada
AbstractThis paper presents a method of computing camera positions from a sequence of overlapping images obtained from a binocular/trinocular camera head. First, we find matching features among the images at each camera head position. Because the individual cameras are calibrated we can directly we can directly compute the 3D coordinates of these features using triangulation. Then we find matching features across adjacent images in the camera sequence. We compute the fundamental matrix between image pairs, and then the trilinear tensor between image triplets. The corresponding features that support the overlapping trilinear tensors are very reliable. Some of these matching features across the image sequence are also matching features among the images at each camera head location. This creates a potential set of matching 3D features between adjacent images in the sequence. We compute the transformation between the camera positions in the image sequence using these matching 3D feature co-ordinates. Using multiple cameras has a number of advantages over computing the camera positions from a single camera. We directly obtain a Euclidean reconstruction of the camera path, we can reliably process very small motions, and there are no motion degeneracies.
Publication date
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number45871
NPARC number5761478
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Record identifiercfe6394a-a639-41a4-889d-c7d21da6a899
Record created2009-01-30
Record modified2016-05-09
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