Abstract
We present a method for calibrating the rotation between two cameras in a camera rig in the case of non-overlapping fields of view and in a globally consistent manner. First, rotation averaging strategies are discussed and an L 1-optimal rotation averaging algorithm is presented which is more robust than the L 2-optimal mean and the direct least squares mean. Second, we alternate between rotation averaging across several views and conjugate rotation averaging to achieve a global solution. Various experiments both on synthetic data and a real camera rig are conducted to evaluate the performance of the proposed algorithm. Experimental results suggest that the proposed algorithm realizes global consistency and a high precision estimate.
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Dai, Y., Trumpf, J., Li, H., Barnes, N., Hartley, R. (2010). Rotation Averaging with Application to Camera-Rig Calibration. In: Zha, H., Taniguchi, Ri., Maybank, S. (eds) Computer Vision – ACCV 2009. ACCV 2009. Lecture Notes in Computer Science, vol 5995. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-12304-7_32
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DOI: https://doi.org/10.1007/978-3-642-12304-7_32
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