Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences
Banglei Guan Ji Zhao Daniel Barath Friedrich Fraundorfer Banglei Guan Ji Zhao Daniel Barath Friedrich Fraundorfer
We propose an efficient method to estimate the relative pose of a multi-camera system from a minimum of two affine correspondences (ACs). Our solution is novel as it computes the 6DOF relative pose by utilizing a first-order rotation approximation. We directly derive a single polynomial based on the constraint between ACs and the generalized camera model. Then a closed-form solution is found analy...