Calibration of the relative poses of multiple cameras

This paper is about calibrating the relative poses of a group of rigidly co-located calibrated cameras. The cameras need not share any common field-of-view. A 3D test field of stationary point targets is used and the group of cameras is moved to a number of positions in the test field. The target positions need not be known exactly as they adjust during calibration. A non-linear solution is developed using geometric algebra and expressed in the conformal model of Euclidean 3D space. The algorithm is robust to outliers. It is evaluated on a large data set and results show it performs well. Some suggestions for further improvements are discussed.