Stereo cameras calibration for vehicle based multi-sensors integrated system

The goal for vehicle based multi-sensors integrated system is extracting spatial data and attribute data from mass data of different sources. The main sensors used in vehicle based multi-sensors integrated system for surveying and mapping are multi-pair of stereo cameras. There are two types of calibrations for stereo cameras in multi-sensors integrated system. One is relative calibration, and the other is absolute calibration. In this paper, a full mathematical model for stereo cameras on multi-sensors integrated system has been described and the mathematical models for translate coordinates from stereo camera sub-system to geographical coordinate system are also given out. And integrated calibration of stereo cameras has been realized successfully. With the calibration result, the total precision of the system used in this paper is is suitable for medium or small scale surveying and mapping in urban area.