Self-calibration in visual sensor networks equipped with RGB-D cameras

We consider the self-calibration problem (estimation of location and orientation of multiple camera sensors), in visual sensor networks equipped with RGB-D cameras. We propose two algorithms based on feature matching and relative pose estimation. First one uses Floyd-Warshall algorithm, and can accurately estimate the camera locations. On the other hand, the second algorithm is more scalable than the first one, and can be used in large networks if high accuracy is not an issue. Numerical results demonstrate that both algorithms, depending on the network topology, can be used for self-calibration in RGB-D equipped visual sensor networks.