Calibration of large camera networks

摘要

The present disclosure relates to a sensor network including a plurality of nodes, each node having a directional sensor, a communication module, and a processor configured to receive local measurements of a calibration object from the directional sensor, receive additional measurements of the calibration object from neighboring nodes via the communication module, estimate an initial set of calibration parameters in response to the local and additional measurements, receive additional sets of calibration parameters from neighboring nodes via the communication module, and recursively estimate an updated set of calibration parameters in response to the additional sets of calibration parameters. Additional systems and methods for calibrating a large network of camera nodes are disclosed.

主权项

1. A method comprising:
sensing a calibration object with a plurality of directional sensor nodes; exchanging measurement data regarding the calibration object between the plurality of directional sensor nodes; estimating an initial set of calibration parameters in each of the plurality of directional sensor nodes, each of the plurality of directional sensor nodes estimating its initial set of calibration parameters in response to the measurement data which that directional sensor node sent to other directional sensor nodes of the plurality of directional sensor nodes and in response to the exchanged measurement data which that directional sensor node received from other directional sensor nodes of the plurality of directional sensor nodes; exchanging the initial sets of calibration parameters between the plurality of directional sensor nodes; and estimating an updated set of calibration parameters in each of the plurality of directional sensor nodes, each of the plurality of directional sensor nodes estimating its updated set of calibration parameters in response to the initial set of calibration parameters which that directional sensor node sent to other directional sensor nodes of the plurality of directional sensor nodes and in response to the exchanged initial sets of calibration parameters which that directional sensor node received from other directional sensor nodes of the plurality of directional sensor nodes.