Calibration of non-overlapping cameras based on a mobile robot

This paper presents a calibration framework for calibrating the pose of two cameras with non-overlapping region with the help of a mobile robot. Firstly, intrinsic parameters are calibrated separately by using camera calibration toolbox for MATLAB. To establish the position relationship between the two fixed cameras, the movement of mobile robot at two different sites is obtained for utilizing. In our model, the unknown parameters include the pose relationship between two cameras and the poses of the calibration marker, and the aim is to minimize the errors between the detected and re-projection positions of the chess-board corners. Based on least square estimation (LSE) method, we get the optimal solution. The proposed method is verified on the platform of Pioneer patrol-bot, and the results demonstrate its effectiveness, allowing the use of collaborative calibration and computing the topology of a multi-camera system.