Title:
Diverging viewing-lines in binocular vision:
A method for estimating ego motion by mounted active cameras

Authors:
Akihiro Sugimoto (National Institute of Informatics)
and
Tomohiko Ikeda (Chiba University)

Abstract:

We exploit the framework of diverging viewing-lines
where cameras do not share the common field of view,
and propose a method for incrementally estimating
ego motion using two mounted active cameras. Our
method independently controls the two cameras so that
each camera automatically fixates its optical axis
to its own fixation point. This camera control allows
diverging viewing-lines of the two cameras and leads
to accurate ego-motion estimation independent of the
baseline distance between the two cameras. We show
that the correspondence of the fixation point over two
frames together with the displacement field obtained
from optical flow nearby the fixation point gives us
sufficient constraints to determine ego motion.




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