System and methods for extrinsic calibration of cameras and diffractive optical elements

A method for determining extrinsic parameters of a plurality of cameras, the method comprising:

• (a) providing a plurality of diffractive optical elements coupled to a first support system including at least one support beam,
• (b) providing a plurality of cameras positioned in an eye box of each one of the plurality of diffractive optical elements when the plurality of cameras are positioned at a first position, a second position and a third position relative to the plurality of diffractive optical elements, wherein the plurality of cameras are coupled to a second support system including at least one support beam, the second support system is positioned across from the first support system to place the plurality of cameras in the eye box of each one of the plurality of diffractive optical elements;
• at each one of the first position, the second position and the third position:
• (c) receiving a plurality of images from the plurality of cameras, wherein each one of the plurality of cameras takes at least one image when positioned at each one of the first position, the second position and the third position;
• (d) for each image, identifying data pairs, each data pair including pixel coordinates of an intensity peak in the image and virtual light source produced by the diffractive optical element that corresponds to the intensity peak;
• and
• (e) determining extrinsic parameters of the plurality of cameras using the identified data pairs for each image.

A system for determining extrinsic parameters of a plurality of cameras using a plurality of diffractive optical elements, the system comprising:

• a support system including a first support beam and a second support beam;
• a plurality of diffractive optical elements coupled to the first support beam of the support system;
• a plurality of cameras configured to remain in an eye box of each one of the plurality of diffractive optical elements, wherein the plurality of cameras are coupled to the second support beam of the support system, the second support beam is positioned across from the first support beam to place the plurality of cameras in the eye box of each one of the plurality of diffractive optical elements;
• and
• a processor coupled to the plurality of cameras, wherein the processor stores executable instructions that, when executed by the processor, cause the processor to:
• receive a plurality of images from the plurality of cameras, wherein a single image is received from each one of the plurality of cameras at a given position with respect to one of the plurality of diffractive optical elements;
• for each image, identifying data pairs, each data pair including pixel coordinates of an intensity peak in the image and virtual light source produced by the diffractive optical element that corresponds to the intensity peak;
• and
• determining extrinsic parameters of the plurality of cameras using the identified data pairs and a predetermined transform matrix of the plurality of diffractive optical elements.