Diverging viewing-lines in binocular vision: A method for estimating ego motion by mounted active cameras
نویسندگان
چکیده
We exploit the framework of diverging viewing-lines where cameras do not share the common field of view, and propose a method for incrementally estimating ego motion using two mounted active cameras. Our method independently controls the two cameras so that each camera automatically fixates its optical axis to its own fixation point. This camera control allows diverging viewing-lines of the two cameras and leads to accurate ego-motion estimation independent of the baseline distance between the two cameras. We show that the correspondence of the fixation point over two frames together with the displacement field obtained from optical flow nearby the fixation point gives us sufficient constraints to determine ego motion.
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