Intrinsic parameters estimation in visual tracking systems

A computing apparatus comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, configure the apparatus to perform operations comprising:
• enabling only a second camera of the multi-camera visual tracking system;
• disabling a first camera of a multi-camera visual tracking system while second camera of the multi-camera visual tracking system is enabled;
• detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera after disabling the first camera;
• enabling the first camera in response to detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera;
• detecting a first set of features in the first image generated by the first camera after enabling the first camera in response to detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera;
• and
• accessing and correcting intrinsic parameters of the second camera by projecting the first set of features of the first image on the second camera.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• enable only a second camera of the multi-camera visual tracking system;
• disable a first camera of a multi-camera visual tracking system while the second camera of the multi-camera visual tracking system is enabled;
• detect that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera after disabling the first camera:
• enable the first camera in response to detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera;
• detect a first set of features in the first image generated by the first camera after enabling the first camera in response to detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera;
• and
• access and correct intrinsic parameters of the second camera by projecting the first set of features of the first image on the second camera.