CPC G06T 7/80 (2017.01) [H04N 23/6812 (2023.01); G06T 2207/10044 (2013.01); G06T 2207/30252 (2013.01)] | 27 Claims |
1. A method of extrinsic camera calibration, comprising:
receiving, using at least one processor, a first initial extrinsic calibration of a first camera having a first sensor, wherein the first initial extrinsic calibration includes a rotation matrix and an initial translation matrix and is based on a first position of the first sensor when the first camera captures an initial image;
determining, using the at least one processor, a first translation of the first sensor based on a second position thereof when the first camera captures a first image, the second position being different than the first position;
determining, using the at least one processor, a first extrinsic translation shift based at least upon the first translation, wherein the first extrinsic translation shift represents a first net translation between the first position and the second position of the first sensor; and
updating, using the at least one processor, the first initial extrinsic calibration to yield a first modified extrinsic calibration for the first camera based on the first extrinsic translation shift, wherein the first modified extrinsic calibration includes the rotation matrix and a first adjusted translation matrix given by a summation of the first extrinsic translation shift with the initial translation matrix.
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