Camera array calibration in a farming machine

A non-transitory computer-readable storage medium comprising computer program instructions for validating a calibration of a plurality of cameras on a farming machine having a mounting mechanism that, when executed by a computer processor, cause the processor to:

• for each camera of the plurality of cameras on the farming machine, receive an image comprising visual information representing a view of a portion of an area surrounding the farming machine;
• for a first pair of cameras comprising a first camera of the plurality of cameras and a second camera of the plurality of cameras,
• determine a first relative pose between the first pair of cameras, wherein the first relative pose comprises a position and an orientation of the first camera relative to the second camera by extracting relative position and orientation characteristics from visual information in both a first image received from the first camera and a second image received from the second camera;
• identify a calibration error for the first pair of cameras based on a comparison of the first relative pose with an expected relative pose between the first pair of cameras wherein the expected relative pose is described by a virtual representation of the farming machine and comprises an expected position and an expected orientation of the first camera relative to the second camera;
• and
• transmit, to an operator of the farming machine, a notification comprising the calibration error and instructions to remedy the calibration error.

A farming machine comprising:

• a plurality of cameras mounted to a mounting mechanism for the farming machine;
• and
• a computing device;
• and
• a non-transitory computer-readable storage medium comprising computer program instructions for validating a calibration of the plurality of cameras that, when executed by the computing device, cause the computing device to:
• for each camera of the plurality of cameras on the farming machine, receiving an image comprising visual information representing a view of a portion of an area surrounding the farming machine;
• for a first pair of cameras comprising a first camera of the plurality of cameras and a second camera of the plurality of cameras,
• determine a first relative pose between the first pair of cameras,
• wherein the first relative pose comprises a position and an orientation of the first camera relative to the second camera by extracting relative position and orientation characteristics from visual information in both a first image received from the first camera and a second image received from the second camera;
• identify a calibration error for the first pair of cameras based on a comparison of the first relative pose with an expected relative pose between the first pair of cameras, wherein the expected relative pose is described by a virtual representation of the farming machine and comprises an expected position and an expected orientation of the first camera relative to the second camera;
• and
• transmit, to an operator of the farming machine, a notification comprising the calibration error and instructions to remedy the calibration error.