Results from the ICRA 2011 paper by Gerardo Carrera, Adrien Angeli and Andrew Davison, showing an automatic process for calibrating the relative positions of cameras in a robot-mounted multi-camera rig. The robot manoeuvres while each camera makes a MonoSLAM maps. These maps are then matched and aligned into a single global frame, and then final optimisation produces accurate estimates of the full extrinsic parameters.
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