Scalable Extrinsic Calibration of Omni-Directional Image Networks

摘要

We describe a linear-time algorithm that recovers absolute camera orientations and positions, along with uncertainty estimates, for networks of terrestrial image nodes spanning hundreds of meters in outdoor urban scenes. The algorithm produces pose estimates globally consistent to roughly 0.1° (2 milliradians) and 5 centimeters on average, or about four pixels of epipolar alignment.