Globally Optimal Relative Pose Estimation for Multi-Camera Systems with Known Gravity Direction
Qianliang Wu,Yaqing Ding,Xinlei Qi,Jin Xie,Jian Yang,Qianliang Wu,Yaqing Ding,Xinlei Qi,Jin Xie,Jian Yang
Multiple-camera systems have been widely used in self-driving cars, robots, and smartphones. In addition, they are typically also equipped with IMUs (inertial measurement units). Using the gravity direction extracted from the IMU data, the y-axis of the body frame of the multi-camera system can be aligned with this common direction, reducing the original three degree-of-freedom(DOF) relative rotat...
