Multi-camera System Calibration of Indoor Mobile Robot Based on SLAM

摘要

In order to obtain the unified observation equation parameters of the SLAM model, it is necessary to calibrate the internal and external parameters of the multi-camera system and the relative pose of the multi-cameras. In this paper, Zhang Zhengyou calibration method is used to calibrate the internal and external parameters of a single camera, nonlinear model and iterative method are used to further optimize the results, reducing errors and improving accuracy. The multi-camera system is automatically calibrated by the mapping method which can calibrate the non-overlapping camera fields of view, so as to automatically and accurately acquire the pose relationship of the multi-cameras. Experiments show that the calibration method can effectively reduce the error and improve the accuracy, and the SLAM system uses the external parameters obtained by this method for pose tracking and mapping, which is closer to the real value.