System and method for camera re-calibration based on an updated homography

A method comprising:

• receiving a first image from a first camera from among a plurality of cameras, wherein:
• the first image shows at least a portion of a set of points on a calibration board;
• each camera is configured to capture images of at least a portion of a platform;
• and
• the calibration board is positioned on the platform;
• determining a first pixel location array that comprise a first set of pixel locations associated with the set of points in the first image;
• determining, by applying a first homography to the first pixel location array, a first calculated location array identifying a first set of calculated physical (x,y) location coordinates of the set of points in a global plane, wherein the first homography is configured to translate between pixel locations in the first image and physical (x,y) coordinates in the global plane;
• comparing a reference location array with the first calculated location array, wherein:
• the reference location array is determined by the first homography;
• and
• the reference location array comprises a first set of physical (x,y) locations of a set of points located on the calibration board in the global plane;
• determining a difference between the reference location array and the first calculated location array;
• determining that the difference between the reference location array and the first calculated location array is more than a threshold value;
• and
• in response to determining that the difference between the reference location array and the first calculated location array is more than the threshold value:
• determining that the first camera and/or the platform has moved from a respective initial location when the first homography was determined;
• determining a second homography by multiplying an inverse of the first pixel location array by the reference location array;
• and
• calibrating the first camera using the second homography.

A non-transitory computer-readable medium storing instructions that when executed by one or more processors, cause the one or more processors to:

• receive a first image from a first camera from among a plurality of cameras, wherein:
• the first image shows at least a portion of a set of points on a calibration board;
• each camera is configured to capture images of at least a portion of a platform;
• and
• the calibration board is positioned on the platform;
• determine a first pixel location array that comprise a first set of pixel locations associated with the set of points in the first image;
• determine, by applying a first homography to the first pixel location array, a first calculated location array identifying a first set of calculated physical (x,y) location coordinates of the set of points in a global plane, wherein the first homography is configured to translate between pixel locations in the first image and physical (x,y) coordinates in the global plane;
• compare a reference location array with the first calculated location array, wherein:
• the reference location array is determined by the first homography;
• and
• the reference location array comprises a first set of physical (x,y) locations of a set of points located on the calibration board in the global plane;
• determine a difference between the reference location array and the first calculated location array;
• determine that the difference between the reference location array and the first calculated location array is more than a threshold value;
• and
• in response to determining that the difference between the reference location array and the first calculated location array is more than the threshold value:
• determine that the first camera and/or the platform has moved from a respective initial location when the first homography was determined;
• determine a second homography by multiplying an inverse of the first pixel location array by the reference location array;
• and
• calibrate the first camera using the second homography.