Calibrating Distributed Camera Networks

Recent developments in wireless sensor networks have made feasible distributed camera networks, in which cameras and processing nodes may be spread over a wide geographical area, with no centralized processor and limited ability to communicate a large amount of information over long distances. This paper overviews distributed algorithms for the calibration of such camera networks- that is, the automatic estimation of each camera´s position, orientation, and focal length. In particular, we discuss a decentralized method for obtaining the vision graph for a distributed camera network, in which each edge of the graph represents two cameras that image a sufficiently large part of the same environment. We next describe a distributed algorithm in which each camera performs a local, robust nonlinear optimization over the camera parameters and scene points of its vision graph neighbors in order to obtain an initial calibration estimate. We then show how a distributed inference algorithm based on belief propagation can refine the initial estimate to be both accurate and globally consistent.