Ego-Motion Estimation Using Optical Flow Fields Observed from Multiple Cameras

An-Ting Tsao, Chiou-Shann Fuh, Yi-Ping Hung, Yong-Sheng Chen

Abstract: In this paper, we consider a multi-camera vision system mounted on a moving object in a static three-dimensional environment. By using the motion flow fields seen by all of the cameras, an algorithm which does not need to solve the point-correspondence problem among the cameras is proposed to estimate the 3D ego-motion parameters of the moving object. Our experiments have shown that using multiple optical flow fields obtained from different cameras can be very helpful for ego-motion estimation.