Relative orientation of videos from range imaging cameras

In this paper we investigate the determination of camera relative orientation in videos from time of flight (ToF) range imaging camera. The task of estimating the relative orientation is realized by fusion of range flow and optical flow constraints, which integrates the range and the intensity channels in a single framework. We demonstrate our approach on videos from a ToF camera involving camera translation and rotational motion and compare it with the ground truth data. Furthermore we distinguish camera motion from an independently moving object using a robust adjustment.

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