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Multi-perspective cameras are quickly gaining importance in many applicationssuch as smart vehicles and virtual or augmented reality. However, a largesystem size or absence of overlap in neighbouring fields-of-view oftencomplicate their calibration. We present a novel solution which relies on theavailability of an external motion capture system. Our core contributionconsists of an extension to the hand-eye calibration problem which jointlysolves multi-eye-to-base problems in closed form. We furthermore demonstrateits equivalence to the multi-eye-in-hand problem. The practical validity of ourapproach is supported by our experiments, indicating that the method is highlyefficient and accurate, and outperforms existing closed-form alternatives.

Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint