An external parameter calibration method for multiple cameras based on laser rangefinder

作者：Liu Zhen; Li Fengjiao; Zhang Guangjun^*

来源：Measurement, 2014, 47: 954-962.

DOI：10.1016/measurement.2013.10.029

• Computer vision
• External parameter calibration
• Multiple cameras
• Laser rangefinder

In this paper, an external parameter calibration method for multiple cameras with non-overlapping fields of view (FOVs) using a laser rangefinder (LRF) is presented. The proposed method combines multiple cameras by the laser beam projected by the LRF. The main procedures of the proposed method are: The LRF is positioned for a few (at least two) times and projects a laser beam across the FOVs of different cameras. The laser beam is intercepted by a planar object for at least 3 times in the FOV of each camera. The cameras capture the laser spots projected on the planar object and the LRF measures the distances between the different spots. According to the co-linearity of the laser spots captured by all the cameras at each LRF position and the distances between the laser spots, the external parameters between different cameras can be computed. If the laser beam cannot reach the FOVs of all the cameras, the calibration of all the cameras can be achieved by pair-wise calibration. Experiment results show that the relative point pair distance error is around 0.3% when the distance between the two cameras is around four meters.

• 出版日期2014-1
• 单位北京航空航天大学