01709nas a2200169 4500008004100000245005300041210005200094260002900146300001200175520116500187100001701352700001701369700002001386700002001406700002101426856009201447 2013 eng d00aPose Estimation of Ad-hoc Mobile Camera Networks0 aPose Estimation of Adhoc Mobile Camera Networks aHobart, TAS bIEEEc2013 a88 - 953 a

An algorithm is proposed for the pose estimation of ad-hoc mobile camera networks with overlapping views. The main challenge is to estimate camera parameters with respect to the 3D scene without any specific calibration pattern, hence allowing for a consistent, camera-independent world coordinate system. The only assumption about the scene is that it contains a planar surface patch of a low-rank texture, which is visible in at least two cameras. Such low-rank patterns are quite common in urban environments. The proposed algorithm consists of three main steps: relative pose estimation of the cameras within the network, followed by the localization of the network within the 3D scene using a low-rank surface patch, and finally the estimation of a consistent scale for the whole system. The algorithm follows a distributed architecture, hence the computing power of the participating mobile devices are efficiently used. The performance and robustness of the proposed algorithm have been analyzed on both synthetic and real data. Experimental results confirmed the relevance and applicability of the method.

 

1 aSanta, Zsolt1 aKato, Zoltan1 ade Souza, Paulo1 aEngelke, Ulrich1 aRahman, Ashfaqur uhttps://inf.u-szeged.hu/en/publication/pose-estimation-of-ad-hoc-mobile-camera-networks