A Two-Step Optimization for Extrinsic Calibration of Multiple Camera System (MCS) Using Depth-Weighted Normalized Points

Gunhee Koo, Woonhyung Jung, Nakju Doh

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


A multiple camera system (MCS), which allows only a limited common field-of-view between adjacent cameras, has been chiefly calibrated using a typical 2D-3D point correspondence. However, the correspondence contains a potential instability by which the calibration result can diverge, and the instability has not been studied nor overcome before. We propose a MCS extrinsic calibration method with high robustness and accuracy based on a two-step optimization strategy. Using depth-weighted normalized points, we develop two novel types of point correspondence as follows. The 1st correspondence, F_{cb}, aims to robustly estimate the MCS extrinsic parameters by overcoming the potential instability that exists in the typical 2D-3D point correspondence. The 2nd correspondence, F_{cc}, aims to refine the MCS extrinsic parameters by using the direct relation between adjacent cameras. In the simulation, we validated the robustness and high accuracy of the proposed method. We validated its high precision in the field test. In both the simulation and the field test, our method was compared with the state-of-the-art method.

Original languageEnglish
Article number9472985
Pages (from-to)6608-6615
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2021 Oct

Bibliographical note

Funding Information:
Manuscript received February 24, 2021; accepted June 15, 2021. Date of publication July 2, 2021; date of current version July 19, 2021. This letter was recommended for publication by Associate Editor Guoquan (Paul) Huang and Editor L. Pallottino upon evaluation of the reviewers’ comments. This work was supported by a Grant (21NSIP-B135746-05) from National Spatial Information Research Program (NSIP) funded by Ministry of Land, Infrastructure and Transport of Korean government. (Corresponding author: Nakju Doh.) Gunhee Koo is with the School of Electrical Engineering, Korea University, Seoul, Republic of Korea (e-mail: gunhee.koo@gmail.com).

Publisher Copyright:
© 2016 IEEE.


  • Calibration and identification
  • sensor fusion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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