Method and apparatus for jointly calibrating external parameters of multiple cameras, device and medium
US11394872B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 9, 2020 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Nov 27, 2040 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/40
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A method and apparatus for jointly calibrating external parameters of multiple cameras. The method includes: determining an overlapped area of angles of view of cameras, and obtaining a 2D verification point set in an image of the overlapped area, the 2D verification point set including at least one verification point; performing external parameter calibration for each camera separately to obtain a current external parameter of the camera; calculating coordinates of a 3D point corresponding to each verification point in a world coordinate system using the current external parameter of each camera separately, and calculating a loss function based on the coordinates of the 3D point, the loss function being used to measure an overlay error of calibration of the cameras under the current external parameter; and performing joint calibration based on the loss function to obtain a target external parameter of each camera.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.