Real-time calibration of wide-baseline outside-in multi-camera systems

A method for calibrating a wide-baseline outside-in moving multi-camera system comprising:

• receiving a video sequence and a set of intrinsic parameters corresponding to each camera of the multi-camera system, wherein the video sequences each comprise a plurality of video frames of a scene sequenced along shared time instances across the video sequences;
• determining a set of extrinsic parameters for each camera and for each time instance of the video sequences by generating first extrinsic parameters based on tracked features in the video sequences, generating second extrinsic parameters using location and orientation parameters corresponding to one or more motion control systems coupled to one or more corresponding cameras of the multi-camera system, and combining the first extrinsic parameters with second extrinsic parameters to provide at least a portion of the sets of extrinsic parameters;
• and
• outputting the sets of extrinsic parameters.

At least one machine readable medium comprising a plurality of instructions that, in response to being executed on a computing device, cause the computing device to calibrate a wide-baseline outside-in multi-camera system by:

• receiving a video sequence and a set of intrinsic parameters corresponding to each camera of the multi-camera system, wherein the video sequences each comprise a plurality of video frames of a scene sequenced along shared time instances across the video sequences;
• determining a set of extrinsic parameters for each camera and for each time instance of the video sequences by generating first extrinsic parameters based on tracked features in the video sequences, generating second extrinsic parameters using location and orientation parameters corresponding to one or more motion control systems coupled to one or more corresponding cameras of the multi-camera system, and combining the first extrinsic parameters with second extrinsic parameters to provide at least a portion of the sets of extrinsic parameters;
• and
• outputting the sets of extrinsic parameters.