Document Type

Article

Publication Date

2010

Publication Title

Computer Vision and Image Understanding

Volume

114

Issue

8

First Page

952

Last Page

962

DOI

doi:10.1016/j.cviu.2010.03.003

Keywords

Camera network, Calibration, Collaborative, Distributed, Registration, 3D vision, Vision graph, Collaborative vision, Distributed computing

Abstract

Stereo-based 3D distributed smart camera networks are useful in a broad range of applications. Knowledge of the relative locations and orientations of nodes in the network is an essential prerequisite for true 3D sensing. A novel spatial calibration method for a network of pre-calibrated stereo smart cameras is presented, which obtains pose estimates suitable for collaborative 3D vision in a distributed fashion using two stages of registration on robust 3D point sets. The method is initially described in a geometrical sense, then presented in a practical implementation using existing vision and registration algorithms. Experiments using both software simulations and physical devices are designed and executed to demonstrate performance.

Comments

NOTICE: this is the author’s version of a work that was accepted for publication in Computer Vision and Image Understanding. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published here: http://dx.doi.org/10.1016/j.cviu.2010.03.003

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