Automatic Calibration of Multiple Fisheye Cameras: Trajectory based Extrinsic Calibration of a Multicamera Rig
Typ
Examensarbete för masterexamen
Program
Systems, control and mechatronics (MPSYS), MSc
Publicerad
2021
Författare
Sæthern, Ola
Heiman, David
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This thesis presents a new technique for automatic extrinsic calibration of fisheye
cameras on boats. In contrast to most of the existing methods that require overlapping
field of view, our technique does not, which opens up for completely free
placement of cameras. The method selected for this work was trajectory based calibration,
meaning that the fixed relative pose between the cameras can be determined
from the trajectories of the cameras. For development, Gazebo VRX simulator was
used to generate the data for calibration, and KITTI odometry to evaluate algorithms.
The method for generating the trajectories was visual inertial odometry
and ground truth trajectories were extracted from the simulator. The calibration
method was selected based on the availability of sensors onboard boats, for the objective
to generate accurate trajectories. It was found that the developed trajectory
based calibration of relative pose between cameras is working, given an accurate
trajectory. The method was independent of which algorithm is used to obtain the
trajectory. However, there were difficulties getting visual inertial odometry alone to
generate trajectories accurate enough for the simulated data sets.
Beskrivning
Ämne/nyckelord
VO , VIO , visual odometry , extrinsic calibration , trajectory based calibration , marine , VRX , Gazebo , Computer Vision