Extrinsic parameters calibration of multi-camera with non-overlapping fields of view using laser scanning

An extrinsic parameters calibration method of multi-cameras with non-overlapping fields of view (FOV) using laser scanning is presented. Firstly, two lasers are mounted on a multi-degree-of-freedom manipulator and can scan objects freely by the projected line-structured light. Then, controlling the movement of the manipulator, the line-structured light is projected into the field of view of one of the multi-cameras, and the light plane equation in the camera coordinate frame is calibrated by the target. The manipulator is moved several times in small amplitude to change the position of structured light in the field of vision of the camera and to continue to calibrate the light plane. The light plane equation of line-structured light in the manipulator coordinate frame are solved by the hand-eye calibration method. Secondly, with the help of the light planes, projected into the field of vision of other cameras to be calibrated, the light plane equation in the camera coordinate frame is calibrated, and the external parameters between the camera coordinate frame and the manipulator coordinate frame are calculated, so that the calibration of the external parameters of multiple cameras can be realized. The proposed method connects the non-overlapping multi-cameras by the laser scanning. It can effectively solve the problem of multi-camera extrinsic parameter calibration under the conditions of long working distance and complex environment light.