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We present a novel approach for a rigorous bundle adjustment for omnidirectional and multi-view cameras, which enables an efficient\udmaximum-likelihood estimation with image and scene points at infinity. Multi-camera systems are used to increase the resolution,\udto combine cameras with different spectral sensitivities (Z/I DMC, Vexcel Ultracam) or – like omnidirectional cameras – to augment\udthe effective aperture angle (Blom Pictometry, Rollei Panoscan Mark III). Additionally multi-camera systems gain in importance for\udthe acquisition of complex 3D structures. For stabilizing camera orientations – especially rotations – one should generally use points\udat the horizon over long periods of time within the bundle adjustment that classical bundle adjustment programs are not capable of.\udWe use a minimal representation of homogeneous coordinates for image and scene points. Instead of eliminating the scale factor of\udthe homogeneous vectors by Euclidean normalization, we normalize the homogeneous coordinates spherically. This way we can use\udimages of omnidirectional cameras with single-view point like fisheye cameras and scene points, which are far away or at infinity. We\uddemonstrate the feasibility and the potential of our approach on real data taken with a single camera, the stereo camera <i>FinePix Real\ud3D W3</i> from Fujifilm and the multi-camera system <i>Ladybug 3</i> from Point Grey

BUNDLE ADJUSTMENT FOR MULTI-CAMERA SYSTEMS WITH POINTS AT INFINITY