Multi-Camera Structure from Motion with Eye-to-Eye Calibration

Imaging systems consisting of multiple conventional cameras are of increasing interest for computer vision applications such as Structure from Motion (SfM) due to their large combined field of view and high composite image resolution. In this work we present a SfM framework for multi-camera systems w/o overlapping camera views that integrates on-line extrinsic camera calibration, local scene reconstruction, and global optimization based on combining hand-eye calibration methods with standard SfM. For this purpose, we propose a novel method for extrinsic calibration based on rigid motion constraints that uses visual measurements directly instead of motion correspondences. Only a single calibration pattern visible within the view of one camera is needed to provide an accurate reconstruction with absolute scale.