SELF-CALIBRATION FOR HYBRID CAMERA ARRAYS

Abstract

A method for calibrating a camera pose in a hybrid camera array comprising two or more color sensors and one or more depth sensors. The method comprises obtaining a depth map for each of the depth sensors, obtaining a set of images from the color sensors and generating up to scale camera poses for the color sensors and an up to scale point cloud using the set of images. A scaling of the up to scale camera poses and up to scale point cloud is then estimated using the one or more depth maps.

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