Sciweavers

Share
BMVC
2010

Calibration of Non-Overlapping Cameras---Application to Vision-Based Robotics

9 years 8 months ago
Calibration of Non-Overlapping Cameras---Application to Vision-Based Robotics
Multi-camera systems are more and more used in vision-based robotics. An accurate extrinsic calibration is usually required. In most of cases, this task is done by matching features through different views of the same scene. However, if the cameras fields of view do not overlap, such a matching procedure is not feasible anymore. This article deals with a simple and flexible extrinsic calibration method, for nonoverlapping camera rig. The aim is the calibration of non-overlapping cameras embedded on a vehicle, for visual navigation purpose in urban environment. The cameras do not see the same area at the same time. The calibration procedure consists in manoeuvring the vehicle while each camera observes a static scene. The main contributions are a study of the singular motions and a specific bundle adjustment which both reconstructs the scene and calibrates the cameras. Solutions to handle the singular configurations, such as planar motions, are exposed. The proposed approach has been v...
Pierre Lébraly, Eric Royer, Omar Ait-Aider,
Added 10 Feb 2011
Updated 10 Feb 2011
Type Journal
Year 2010
Where BMVC
Authors Pierre Lébraly, Eric Royer, Omar Ait-Aider, Michel Dhome
Comments (0)
books