Abstract

Vision (both using one-dimensional and two-dimensional retina) is useful for the autonomous navigation of vehicles. In this pa- per the case of a vehicle equipped with multiple cameras with non- overlapping views is considered. The geometry and algebra of such a moving platform of cameras are considered. In particular we formulate and solve structure and motion problems for a few novel cases of such moving platforms. For the case of two-dimensional retina cameras (ordi- nary cameras) there are two minimal cases of three points in two plat- form positions and two points in three platform positions. For the case of one-dimensional retina cameras there are three minimal structure and motion problems. In this paper we consider one of these (6 points in 3 platform positions). The theory has been tested on synthetic data.