Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras
Levente Hajder,Daniel Barath,Levente Hajder,Daniel Barath
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when a larger-than-minimal sample of point correspondences is given - thus, estimating the motion from at least three correspondences. The algorithm requires the ca...
