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Structure from motion using uncalibrated multi-camera systems is achallenging task. This paper proposes a bundle adjustment solution thatimplements a baseline constraint respecting that these cameras are static toeach other. We assume these cameras are mounted on a mobile platform,uncalibrated, and coarsely synchronized. To this end, we propose the baselineconstraint that is formulated for the scenario in which the cameras haveoverlapping views. The constraint is incorporated in the bundle adjustmentsolution to keep the relative motion of different cameras static. Experimentswere conducted using video frames of two collocated GoPro cameras mounted on avehicle with no system calibration. These two cameras were placed capturingoverlapping contents. We performed our bundle adjustment using the proposedconstraint and then produced 3D dense point clouds. Evaluations were performedby comparing these dense point clouds against LiDAR reference data. We showedthat, as compared to traditional bundle adjustment, our proposed methodachieved an improvement of 29.38%.

Constrained Bundle Adjustment for Structure From Motion Using Uncalibrated Multi-Camera Systems