Relative Pose Estimation for a Multi-camera System with Known Vertical Direction

In this paper, we present our minimal 4-point and linear 8-point algorithms to estimate the relative pose of a multi-camera system with known vertical directions, i.e. known absolute roll and pitch angles. We solve the minimal 4-point algorithm with the hidden variable resultant method and show that it leads to an 8-degree univariate polynomial that gives up to 8 real solutions. We identify a degenerated case from the linear 8-point algorithm when it is solved with the standard Singular Value Decomposition ({SVD}) method and adopt a simple alternative solution which is easy to implement. We show that our proposed algorithms can be efficiently used within {RANSAC} for robust estimation. We evaluate the accuracy of our proposed algorithms by comparisons with various existing algorithms for the multi-camera system on simulations and show the feasibility of our proposed algorithms with results from multiple real-world datasets.     «

In this paper, we present our minimal 4-point and linear 8-point algorithms to estimate the relative pose of a multi-camera system with known vertical directions, i.e. known absolute roll and pitch angles. We solve the minimal 4-point algorithm with the hidden variable resultant method and show that it leads to an 8-degree univariate polynomial that gives up to 8 real solutions. We identify a degenerated case from the linear 8-point algorithm when it is solved with the standard Singular Value De...     »

8-degree univariate polynomial, Cameras, degenerated case, Estimation, estimation theory, Generalized Camera, hidden variable resultant method, known absolute roll, Known Vertical Direction, linear 8-point algorithm, Mathematical model, minimal 4-point algorithm, Minimal Problem, multicamera system, Multi-Camera System, pitch angles, Polynomials, pose estimation, {RANSAC}, relative pose estimation, robust estimation, Robustness, singular value decomposition, Standards, standard singular value decomposition method, {SVD} method, vertical direction, peer     «

8-degree univariate polynomial, Cameras, degenerated case, Estimation, estimation theory, Generalized Camera, hidden variable resultant method, known absolute roll, Known Vertical Direction, linear 8-point algorithm, Mathematical model, minimal 4-point algorithm, Minimal Problem, multicamera system, Multi-Camera System, pitch angles, Polynomials, pose estimation, {RANSAC}, relative pose estimation, robust estimation, Robustness, singular value decomposition, Standards, standard singular value de...     »