Determining Relative Geometry of Cameras from Normal Flows

摘要

Determining the relative geometry of cameras is important in active binocular head or multi-camera system. Most of the existing works rely upon the establishment of either motion correspondences or binocular correspondences. This paper presents a first solution method that requires no recovery of full optical flow in either camera, nor overlap in the cameras' visual fields and in turn the presence of binocular correspondences. The method is based upon observations that are directly available in the respective image stream - the monocular normal flow. Experimental results on synthetic data and real image data are shown to illustrate the potential of the method.