Multi-camera Calibration Based on Iterative Factorization of Measurement Matrix

We propose a joint multi-camera calibration algorithm based on iterative factorization of the measurement matrix. The matrix is composed of homographies between the model plane and its images. Rescaling and decomposition of the measurement matrix are implemented with series of 3D reconstruction techniques. Since these techniques deal well with the missing data, the model plane disposed in the calibration is not required to be observed by all the cameras simultaneously. The proposed algorithm is a convenient choice for practical use. Both intrinsic and extrinsic parameters are well calculated from the decomposed camera matrix at the same time. The validity of the proposed algorithm was verified through simulation and experiments with real data.