基于非同步相机网络精确尺度估计方法.pdfVIP

ACCURATESCALEESTIMATIONBASEDONUNSYNCHRONIZEDCAMERANETWORK

RawiaMhiri,PascalVasseur,Ste´phaneMousset,Re´miBoutteau,AbdelazizBensrhair

LITISlaboratory,INSAdeROUEN-Universite´deRouen

IRSEEM,ESIGELEC

Ourpreviousworkintroducedanewmethodrelaxingthe

synchronizationconstraintthatwecalledthe”triangle-based”

Inthispaperwepresentanunsynchronizedcameranetwork

method[3].Thismethodwasbasedupontheassumptionthat

abletoestimatethemotionandthestructurewithaccurate

themotionweentwoconsecutiveframesisrectilinear.Al-

absolutescale.Theproposedalgorithmrequiresatleastthree

though”triangle-based”methodshowsgoodperformancefor

frames:twoframesfromonecameraandaframefroma

awholesequence,notableerrorsoccurinpresenceofcurves.

neighbouringcamera.Therelativecameraposesareesti-

Theseerrors,whicharecausedbythestraightmotionhypoth-

matedwithclassicalStructure-from-Motionandtheabsolute

esis,reducetheaccuracyoftheabsolutescaleestimation.If

scaweenviewsarecompu