Abstract
Abstract. Multi-view camera systems are used more and more frequently for applications in close-range photogrammetry, engineering geodesy and autonomous navigation, since they can cover a large portion of the environment and are considerably cheaper than alternative sensors such as laser scanners. In many cases, the cameras do not have overlapping fields of view. In this paper, we report on the development of such a system mounted on a rigid aluminium platform, and focus on its geometric system calibration. We present an approach for estimating the exterior orientation of such a multi-camera system based on bundle adjustment. We use a static environment with ground control points, which are related to the platform via a laser tracker. In the experimental part, the precision and partly accuracy that can be achieved in different scenarios is investigated. While we show that the accuracy potential of the platform is very high, the mounting calibration parameters are not necessarily precise enough to be used as constant values after calibration. However, this disadvantage can be mitigated by using those parameters as observations and refining them on-the-job.
Highlights
1.1 Motivation and GoalIn many fields, such as autonomous driving or crash tests, a large field of view is necessary for cameras observing the environment, which can be achieved by using a multi-view camera system
We have presented an approach to determine the mounting calibration of an multi-sensor system (MSS) with a focus on two cameras with non-overlapping fields of view
The 6 degrees of freedom (6DoF) of one sensor relative to another can be calculated as long as it remains constant over time
Summary
1.1 Motivation and GoalIn many fields, such as autonomous driving or crash tests, a large field of view is necessary for cameras observing the environment, which can be achieved by using a multi-view camera system. In order to be able to capture accurate and reliable measurements using a multi-sensor system (MSS), a calibration of the whole system is needed as a first step. This exterior sensor calibration is achieved by geometrically referencing and synchronizing the sensors with respect to each other. The 6 degrees of freedom (6DoF) transformation, consisting of three translations and three rotations, and information about time synchronization for all sensors with respect to each other must be determined. It is advantageous to carry out the calibration with the platform being attached to the gimbal of the UAV due to complicated installing and un-installing procedures. We are only concerned with the geometric calibration of the cameras. A similar procedure can be applied to laser scanners as well, e.g. (Hartmann et al, 2017)
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