Video camera registration using accumulated co-motion maps

Abstract

The paper presents a method to register partially overlapping camera-views of scenes where the objects of interest are in motion even if unstructured environment and motion. In a typical outdoor multi-camera system the observed objects might be very different due to the changes in lighting conditions and different camera positions. Hence, static features such as color, shape, and contours cannot be used for camera registration in these cases. Calculation of co-motion statistics, which is followed by outlier rejection and a nonlinear optimization, does the matching. The described robust algorithm finds point correspondences in two camera views (images) without searching for any objects and without tracking any continuous motion. Real-life outdoor experiments demonstrate the feasibility of our approach.