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SLAM-Based Automatic Extrinsic Calibration of a Multi-Camera Rig

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Uploaded by on Jan 9, 2011

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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