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Extrinsic calibration of heterogeneous cameras by line images

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Abstract

The extrinsic calibration refers to determining the relative pose of cameras. Most of the approaches for cameras with non-overlapping fields of view (FOV) are based on mirror reflection, object tracking or rigidity constraint of stereo systems whereas cameras with overlapping FOV can be calibrated using structure from motion solutions. We propose an extrinsic calibration method within structure from motion framework for cameras with overlapping FOV and its extension to cameras with partially non-overlapping FOV. Recently, omnidirectional vision has become a popular topic in computer vision as an omnidirectional camera can cover large FOV in one image. Combining the good resolution of perspective cameras and the wide observation angle of omnidirectional cameras has been an attractive trend in multi-camera system. For this reason, we present an approach which is applicable to heterogeneous types of vision sensors. Moreover, this method utilizes images of lines as these features possess several advantageous characteristics over point features, especially in urban environment. The calibration consists of a linear estimation of orientation and position of cameras and optionally bundle adjustment to refine the extrinsic parameters.

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Authors and Affiliations

  1. Centre for Mathematical Morphology, MINES ParisTech, Paris, France

    Dieu Sang Ly

  2. Le2i UMR CNRS 6306, University of Bourgogne, Le Creusot, France

    Cédric Demonceaux

  3. LITIS Laboratory, University of Rouen, Rouen, France

    Pascal Vasseur

  4. MIS Laboratory, University of Picardie Jules Verne, Amiens, France

    Claude Pégard

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  1. Dieu Sang Ly
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  2. Cédric Demonceaux
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Correspondence to Dieu Sang Ly.

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Ly, D.S., Demonceaux, C., Vasseur, P. et al. Extrinsic calibration of heterogeneous cameras by line images. Machine Vision and Applications 25, 1601–1614 (2014). https://doi.org/10.1007/s00138-014-0624-3

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  • DOI: https://doi.org/10.1007/s00138-014-0624-3

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