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 3Dspace, 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 aspecific 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.