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- Publisher Website: 10.1109/IROS.2017.8206482
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Conference Paper: A new calibration technique for multi-camera systems of limited overlapping field-of-views
Title | A new calibration technique for multi-camera systems of limited overlapping field-of-views |
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Authors | |
Issue Date | 2017 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 5892-5899 How to Cite? |
Abstract | State-of-the-art calibration methods typically choose to use a checkerboard as the calibration target for its simplicity and robustness. They however require the complete checkerboard be captured to break symmetry. More recent multi-camera systems such as Google Jump, Jaunt, and camera arrays have limited overlapping field-of-view (FoV) and having all cameras viewing the complete checkerboard is extremely difficult in reality. Tailored patterns such as CALTag [1] introduce new image features within the checker blocks for breaking symmetry but they also break the grid topology. We present a new technique using such patterned calibration targets for a broad range of multi-camera systems. Our key observation is that applying directional gradient filters yields to heterogeneous responses on grid vs. non-grid features: the former are isolated and the latter are highly inter-connected. We therefore apply a simple but highly efficient technique to eliminate non-grid outliers based on connected component analysis and gradient histograms. Finally, we recover the complete grid by approximating each local checkerboard as a parallelogram and imposing the topology constraint. We conduct comprehensive experiments on a number of recent multi-camera systems and our technique significantly outperforms the state-of-the-art in accuracy and robustness. |
Persistent Identifier | http://hdl.handle.net/10722/327174 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Xing, Ziran | - |
dc.contributor.author | Yu, Jingyi | - |
dc.contributor.author | Ma, Yi | - |
dc.date.accessioned | 2023-03-31T05:29:29Z | - |
dc.date.available | 2023-03-31T05:29:29Z | - |
dc.date.issued | 2017 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 5892-5899 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/327174 | - |
dc.description.abstract | State-of-the-art calibration methods typically choose to use a checkerboard as the calibration target for its simplicity and robustness. They however require the complete checkerboard be captured to break symmetry. More recent multi-camera systems such as Google Jump, Jaunt, and camera arrays have limited overlapping field-of-view (FoV) and having all cameras viewing the complete checkerboard is extremely difficult in reality. Tailored patterns such as CALTag [1] introduce new image features within the checker blocks for breaking symmetry but they also break the grid topology. We present a new technique using such patterned calibration targets for a broad range of multi-camera systems. Our key observation is that applying directional gradient filters yields to heterogeneous responses on grid vs. non-grid features: the former are isolated and the latter are highly inter-connected. We therefore apply a simple but highly efficient technique to eliminate non-grid outliers based on connected component analysis and gradient histograms. Finally, we recover the complete grid by approximating each local checkerboard as a parallelogram and imposing the topology constraint. We conduct comprehensive experiments on a number of recent multi-camera systems and our technique significantly outperforms the state-of-the-art in accuracy and robustness. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | A new calibration technique for multi-camera systems of limited overlapping field-of-views | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2017.8206482 | - |
dc.identifier.scopus | eid_2-s2.0-85041947740 | - |
dc.identifier.volume | 2017-September | - |
dc.identifier.spage | 5892 | - |
dc.identifier.epage | 5899 | - |
dc.identifier.eissn | 2153-0866 | - |