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 correcting a bias in a motion estimation of a multiple camera system in a three-dimensional (3D) space, wherein the fields of view of multiple cameras at least partially coincide. The method comprises the step of computing a first and second set of distribution parameters associated with corresponding determined 3D positions of image features in subsequent image sets. Further, the method comprises the step of estimating a set of motion parameters representing a motion of the multiple camera system. The method also comprises the steps of improving the computed first or second set of distribution parameters and improving the estimated set of motion parameters. Further, the method comprises calculating a bias direction based on the initially estimated set of motion parameters and on the improved estimated set of motion parameters.