Distributed calibration of Camera Sensor Networks

We propose a distributed algorithm for calibrating the intrinsic and extrinsic parameters of a Camera Sensor Network (CSN). We assume that only one of the cameras is calibrated and that the network graph, i.e. the graph over which the cameras communicate, is connected. Each camera uses simple algorithms based on epipolar geometry to obtain its calibration matrix as well as its pose relative to a reference frame. A distributed consensus algorithm is derived to enforce a globally consistent solution for the recovered 3D structure across the entire network. We demonstrate the validity and effectiveness of our method through synthetic experiments.