2A1-P06 Automatic Calibration of Camera Network Using Mobile Robot : Performance Improvement by Map information in Intelligent Space

Pre-calibration of camera network system consisting of distributed camera sensors (i.e., determining the absolute poses of each camera) is an essential task to construct an intelligent space. This research deals with automatic calibration method of external parameters of distributed cameras by utilizing easily obtainable grid map information of the environment as prior information. The map information help seek a global minimum solution (i.e., camera parameters) within the objective function containing many local minimums. We evaluate the proposed method with a mobile robot in a wireless camera network.