Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we challenge one of the basic assumptions made in these scenarios, which is that the multi-camera rig is rigid. More specifically, we are considering the problem of estimating the relative pose between a static non-rigid rig in different spatial orientations while taking into account the effect of gravity onto the system. The deformable physical connections between each camera and the body center are approximated by a simple cantilever model, and inserted into the generalized epipolar constraint. Our results lead us to the important insight that the latent parameters of the deformation model, meaning the gravity vector in both views, become observable. We present a concise analysis of the observability of all variables based on noise, outliers, and rig rigidity for two different algorithms. The first one is a vision-only alternative, while the second one makes use of additional gravity measurements. To conclude, we demonstrate the ability to sense gravity in a real-world example, and discuss practical implications.

考虑多视角相机、非刚性组件、重力效应以及可观测性分析，本文提出了一种估计不同空间方位下静态非刚性组件相对姿态的方法，并在实际示例中展示了对重力的感知能力和相关的实用性讨论。

非刚体多角度相机的相对姿态：静态案例