Robust Metric Velocity Estimation For Non-Overlapping Camera Systems

International audienceThis paper introduces a novel, robust and efficientapproach for metric velocity estimation using multiple cameraswith no overlapping fields of view. By incorporating rotationpriors, the metric velocity estimation problem reduces to solvinga set of linear equations. To determine the metric velocity, atotal of three temporal point correspondences provided by atleast two cameras are required. This enables the use of a 3-point RANSAC algorithm for robust outlier rejection. To enablethe use of the algorithm on platforms with different computationalbudgets, we present three approaches with increasingcomputational requirements to solve for the metric velocity. Thescheme can detect if the motion of the camera system is closeto degeneracy and degrades gracefully. The proposed schemeis evaluated using synthetic image sequences