A METHOD OF ESTIMATING A MOTION OF A MULTIPLE CAMERA SYSTEM, A MULTIPLE CAMERA SYSTEM AND A COMPUTER PROGRAM PRODUCT

摘要

The invention relates to a method of estimating a motion of a multiple camera system in a 3D space, wherein the field of view of multiple cameras at least partially coincide. The method comprises the step of calculating a multiple number of initial motion estimates for a motion of the multiple camera system between the time instant associated with a particular image set and a time instant of a subsequent image set, based on 3D position differences of image features in images of the particular set and the subsequent set, captured by a specific camera. The method further comprises the steps of characterizing the motion by motion parameters represented in the group of rigid-body motion in 3D, and determining an optimal set of motion parameters in the group of rigid-body motion in 3D.