Skip to Main content Skip to Navigation
Conference papers

Comment calibrer extrinsèquement des caméras à champs non-recouvrants ? Application pour un robot mobile

Abstract : Multi-camera systems are more and more used in visionbased robotics. An accurate extrinsic calibration (camera relative poses) is usually required. In most of cases, this task is done by matching features through different views of the same scene. However, if the camera fields of view do not overlap, such a matching procedure is not feasible anymore. This article deals with a simple and flexible extrinsic calibration method, for non-overlapping camera rig. The aim is the calibration of non-overlapping cameras embedded on a vehicle, for visual navigation purpose in urban environment. The cameras do not see the same area at the same time. The calibration procedure consists in manoeuvring the vehicle while each camera observes a static scene. Previously, the camera were intrinsically calibrated. The main contributions are a study of the singular motions and a specific bundle adjustment which both reconstructs the scene and calibrates the cameras. Solutions to handle the singular configurations, such as planar motions, are exposed. The proposed approach has been validated with synthetic and real data. This article is translated from [19].
Document type :
Conference papers
Complete list of metadata

Cited literature [29 references]  Display  Hide  Download
Contributor : Peter Sturm Connect in order to contact the contributor
Submitted on : Wednesday, May 25, 2011 - 2:30:36 PM
Last modification on : Tuesday, October 5, 2021 - 4:48:03 PM
Long-term archiving on: : Friday, November 9, 2012 - 12:10:39 PM


Files produced by the author(s)


  • HAL Id : inria-00595746, version 1



Pierre Lébraly, Omar Ait Aider, Eric Royer, Michel Dhome. Comment calibrer extrinsèquement des caméras à champs non-recouvrants ? Application pour un robot mobile. ORASIS - Congrès des jeunes chercheurs en vision par ordinateur, INRIA Grenoble Rhône-Alpes, Jun 2011, Praz-sur-Arly, France. ⟨inria-00595746⟩



Les métriques sont temporairement indisponibles