NDLI: Fast calibration of embedded non-overlapping cameras

Content Provider	IEEE Xplore Digital Library
Author	Lebraly, P. Royer, E. Ait-Aider, O. Deymier, C. Dhome, M.
Copyright Year	2011
Description	Author affiliation: Clermont Université, Université Blaise Pascal, LASMEA, BP 10448, F-63000 CLERMONT-FERRAND, France (Lebraly, P.; Ait-Aider, O.; Deymier, C.; Dhome, M.) \|\| Clermont Université, LASMEA, BP 10448, F-63000 CLERMONT-FERRAND, France (Royer, E.)
Abstract	This article deals with a simple and flexible extrinsic calibration method, for non-overlapping camera rig. The cameras do not see the same area at the same time. They are rigidly linked and can be moved. The most representative application is the mobile robotics domain. The calibration procedure consists in maneuvering the system while each camera observes a static scene. A linear solution derived from hand eye calibration scheme is proposed to compute an initial estimate of the extrinsic parameters. The main contribution is a specific bundle adjustment which refines both the scene geometry and the extrinsic parameters. Finally, an efficient implementation of the specific bundle adjustment step is defined for online calibration purpose. The proposed approach is validated with both synthetic and real data.
Starting Page	221
Ending Page	227
File Size	1060641
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979743
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Calibration Trajectory Equations Jacobian matrices Complexity theory Transmission line matrix methods
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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