Abstract

Recently, many types of omni-directional cameras have been developed and attracted much attention in a number of difierent fields. Especially, the multi-camera type of omni-directional camera has advan- tages of high-resolution and almost uniform resolution for any direction of view. In this paper, an extrinsic camera parameter recovery method for a moving omni-directional multi-camera system (OMS) is proposed. First, we discuss a perspective n-point (PnP) problem for an OMS, and then describe a practical method for estimating extrinsic camera parame- ters from multiple image sequences obtained by an OMS. The proposed method is based on using the shape-from-motion and the PnP techni- ques.