Abstract. We present a solution for motion estimation for a set of cameras which are firmly mounted on a head unit and do not have overlapping views in each image. This problem relates to ego-motion estimation of multiple cameras, or visual odometry. We reduce motion estimation to solving a triangulation problem, which finds a point in space from multiple views. The optimal solution of the triangulation problem in Linfinity norm is found using SOCP (Second-Order Cone Programming) Consequently, with the help of the optimal solution for the triangulation, we can solve visual odometry by using SOCP as well.
In REF , the authors show how to transform the motion estimation into a triangulation problem, which is subsequently solved using SecondOrder Cone Programming.
Visual odometry for nonoverlapping views using second-order cone programming
In Asian Conf. Computer Vision
Computer Science