Motion estimation of multiple depth cameras using spheres

Automatic motion estimation of multiple depth cameras has remained a challenging topic in computer vision due to its reliance on the image correspondence problem. In this paper, spherical objects are employed to estimate motion parameters between multiple depth cameras. We move a sphere several times in the common view of depth cameras. We fit the spherical point clouds to get the sphere centers in each depth camera system, and then introduce a factorization based approach to estimate motions between the depth cameras. Both simulated and real experiments show the robustness and effectiveness of our method.