Extrinsic Camera Parameter Recovery from Multiple Image Sequences Captured by an Omni-Directional Multi-camera System

  • Tomokazu Sato
  • Sei Ikeda
  • Naokazu Yokoya
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3022)


Recently, many types of omni-directional cameras have been developed and attracted much attention in a number of different fields. Especially, the multi-camera type of omni-directional camera has advantages of high-resolution and almost uniform resolution for any direction of view. In this paper, an extrinsic camera parameter recovery method for a moving omni-directional multi-camera system (OMS) is proposed. First, we discuss a perspective n-point (PnP) problem for an OMS, and then describe a practical method for estimating extrinsic camera parameters from multiple image sequences obtained by an OMS. The proposed method is based on using the shape-from-motion and the PnP techniques.


Natural Feature Camera Parameter Angle Error Real Scene Projection Error 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Tomokazu Sato
    • 1
  • Sei Ikeda
    • 1
  • Naokazu Yokoya
    • 1
  1. 1.Graduate School of Information ScienceNara Institute of Science and TechnologyNaraJapan

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