Extrinsic Recalibration in Camera Networks

This work addresses the practical problem of keeping a camera network calibrated during a recording session. When dealing with real-time applications, a robust calibration of the camera network needs to be assured, without the burden of a full system recalibration at every (un)intended camera displacement. In this paper we present an efficient algorithm to detect when the extrinsic parameters of a camera are no longer valid, and reintegrate the displaced camera into the previously calibrated camera network. When the intrinsic parameters of the cameras are known, the algorithm can also be used to build ad-hoc distributed camera networks, starting from three calibrated cameras. Recalibration is done using pairs of essential matrices, based on image point correspondences. Unlike other approaches, we do not explicitly compute any 3D structure for our calibration purposes.