A multiple camera system (MCS), which allows only a limited common field-of-view between adjacent cameras, has been chiefly calibrated using a typical 2D-3D point correspondence. However, the correspondence contains a… Click to show full abstract
A multiple camera system (MCS), which allows only a limited common field-of-view between adjacent cameras, has been chiefly calibrated using a typical 2D-3D point correspondence. However, the correspondence contains a potential instability by which the calibration result can diverge, and the instability has not been studied nor overcome before. We propose a MCS extrinsic calibration method with high robustness and accuracy based on a two-step optimization strategy. Using depth-weighted normalized points, we develop two novel types of point correspondence as follows. The 1st correspondence,
               
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