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Subtleties of extrinsic calibration of cameras with non-overlapping fields of view

Li, Zaijuan ; Willert, Volker (2022):
Subtleties of extrinsic calibration of cameras with non-overlapping fields of view. (Publisher's Version)
In: Forum Bildverarbeitung 2018, pp. 59-70,
Darmstadt, KIT Scientific Publishing, Forum Bildverarbeitung 2018, Karlsruhe, Germany, 29.-30.11.2018, ISBN 978-3-7315-0833-5,
DOI: 10.26083/tuprints-00017613,
[Conference or Workshop Item]

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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Publisher's Version
Title: Subtleties of extrinsic calibration of cameras with non-overlapping fields of view
Language: English
Abstract:

The calibration of the relative pose between rigidly connected cameras with non-overlapping fields of view (FOV) is a prerequisite for many applications. In this paper, we focus on the subtleties of experimental realization of such a calibration optimization method presented in [1]. We evaluate two strategies to adapt a given optimization process to find better local minima. The first strategy is the introduction of a quality measure for the image data used for calibration, which is based on the projection size of known planar calibration patterns on the image. We show, that introducing an additional weighting to the optimization objective chosen as a function of that quality measure improves calibration accuracy and increases robustness against noise. The second strategy to further improve accuracy is a careful data acquisition of pose pairs used for the calibration. We integrate the above strategies into different setups and demonstrate the improvement both in simulation and real-world experiment.

Book Title: Forum Bildverarbeitung 2018
Place of Publication: Darmstadt
Publisher: KIT Scientific Publishing
Uncontrolled Keywords: Quality measure, extrinsic calibration
Classification DDC: 500 Naturwissenschaften und Mathematik > 530 Physik
600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems)
Event Title: Forum Bildverarbeitung 2018
Event Location: Karlsruhe, Germany
Event Dates: 29.-30.11.2018
Date Deposited: 09 Sep 2022 13:16
Last Modified: 09 Sep 2022 13:17
DOI: 10.26083/tuprints-00017613
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-176131
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/17613
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