Egomotion Estimation of a Multicamera System through Line Correspondence

In this paper we propose a method for estimating the egomotion of a calibrated multi-camera system from an analysis of the luminance edges. The method works entirely in the 3 0 space as all edges of each one set of views are previously localized, matched and back-projected onto the object space. In fact, it searches for the rigid motion that best merges the sets of 3 0 contours extracted from each one of the multi-views. The method uses both straight and curved 3 0 contours. 1