Visual odometry for non-overlapping views using second-order cone programming

Jae Hak Kim*, Richard Hartley, Jan Michael Frahm, Marc Pollefeys

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    26 Citations (Scopus)


    We present a solution for motion estimation for a set of cameras which are firmly mounted on a head unit and do not have overlapping views in each image. This problem relates to ego-motion estimation of multiple cameras, or visual odometry. We reduce motion estimation to solving a triangulation problem, which finds a point in space from multiple views. The optimal solution of the triangulation problem in L-infinity norm is found using SOCP (Second-Order Cone Programming) Consequently, with the help of the optimal solution for the triangulation, we can solve visual odometry by using SOCP as well.

    Original languageEnglish
    Title of host publicationComputer Vision - ACCV 2007 - 8th Asian Conference on Computer Vision, Proceedings
    PublisherSpringer Verlag
    Number of pages10
    EditionPART 2
    ISBN (Print)9783540763895
    Publication statusPublished - 2007
    Event8th Asian Conference on Computer Vision, ACCV 2007 - Tokyo, Japan
    Duration: 18 Nov 200722 Nov 2007

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    NumberPART 2
    Volume4844 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    Conference8th Asian Conference on Computer Vision, ACCV 2007


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