Richard Hartley

Title: Structure and Motion for non-overlapping and generalized cameras

Abstract:  Vehicles with several cameras are used for urban mapping and model building.  I describe 
different algorithms for estimating the motion of a such a vehicle.  The assumption is that the fields of 
view of the cameras may not overlap, so algorithms for standard stereo rigs are not applicable. By 
modelling the set of cameras as a single "generalized" camera, both (non-optimal) linear and L-infinity 
optimal solutions may be formulated. Calibration of the camera system can be done using rotation 
averaging procedures.