I Introduction
Camera network calibration is necessary for a variety of activities, from human activity detection and recognition, to reconstruction tasks. Internal parameters can typically be extracted by waving a calibration target in front of cameras, and then using Zhang’s algorithm [25]. However, determining the external parameters, or the relationships between the cameras in the network, may be a more difficult problem, and the methods for accomplishing external camera calibration in camera networks strongly depend on characteristics of the hardware and the arrangement of the cameras. For instance, the cameras’ shared field of view and level of synchronization strongly influences the ease of camera network calibration.
In this work, we provide a method for camera network calibration provided that the network meets certain conditions with respect to camera views of the patterns, to be defined in Section VB, and the assumption that the network may not be synchronized. Our method uses calibration objects based on planar aruco or charuco patterns [8] and allows significant implementation flexibility. While we developed this approach for the application of reconstructing the shape of thin and small (i.e., 30cm 20cm 20cm) objects, it is suitable for synchronized networks as well. Section VID discusses special cases such as synchronized networks.
Our motivating application is a lowcost system for densely reconstructing small objects. Using a multiview stereo paradigm, accurate camera calibration is an important element in the success of such systems [7]. The objects are from the agricultural domain, reconstructed for plant phenotyping purposes, and the method by which each object’s shape is reconstructed differs ([6, 9, 15, 18, 24]). One of the experiments we will use to illustrate this paper consists of a camera network distributed across two sides of a box and pointed generally towards the center, for the reconstruction of grape rachis^{1}^{1}1Grape rachis are the stem portion of a grape cluster.. We require that in the future, camera networks of this type will be constructed, deconstructed, shipped, rebuilt, calibrated, and operated by collaborators in biological laboratories. Consequently, the aim of this work is that the networks may be calibrated with basic instructions, the provision of the code that accompanies the cameraready version of this paper, and lowcost and interchangeable components.
From the above description, the use of the descriptor camera network is not quite accurate; camera networks usually involve communication between nodes. However, in the literature multiplecamera systems typically refer to mobile units of cameras, such as stereo heads, multidirectional clusters of cameras (such as FLIR’s Bumblebee), etc., and not to cameras in a static arrangement such as those that we consider. It is for this reason that we retain the term camera network for fixed cameras, and multiplecamera systems to cameras that may be rigidly connected, but whose base is mobile. Our calibration method may be applied to a multiplecamera system, though, and this special case is discussed in Section VID. Given these preliminaries, our contributions to the stateoftheart consist of:

[noitemsep]

A method for the calibration of camera networks that does not depend on synchronized cameras. The method is based on the capture of a few images of a simple calibration artifact and therefore can be employed by users without a computer vision background.

A formulation of the calibration problem based on the iterative computation of the homogeneous transformation matrices for the individual cameras followed by the minimization of the networkwide reprojection error. This formulation does not require knowledge of the transformations between multiple rigidly attached calibration targets and is sufficiently accurate for reconstruction tasks.
Ii Related Work
Camera network calibration: point targets.
Synchronized camera networks, such as those used for motion capture and kinematic experiments, have long made use of a protocol of waving a wand, where illuminated LEDs are spaced at known intervals, in front of each camera. These LEDs then serve as the world coordinate system. After collecting a large number of images from each camera, structure from motion techniques are used to estimate camera parameters (
[2, 3, 5, 20]).Multicamera calibration or asynchronous camera networks. Liu et al. [14] use a twostep approach to calibrating a variety of configurations, including multicamera contexts, by using handeye calibration to generate an initial solution, and then minimize reprojection error. Joo et al. [10], working with an asynchronous camera network, used patterns projected onto white cloth to calibrate via bundle adjustment.
Robotcamera calibration. The handeye calibration problem, and robotworld, handeye calibration problem are two formulations of robotcamera calibration using camera and robot pose estimates as data. Recently, there has been interest in solving this problem optimally for reconstruction purposes. Tabb and Ahmad Yousef ([22, 23]) showed that nonlinear minimization of algebraic error, followed by minimization for reprojection error, produced reconstructionappropriate results for multicamera, one robot settings. Wei et al. [13] uses bundle adjustment to refine initial calibration estimates without a calibration target. Recently, Koide and Menegatti [12] formulated the robotworld, handeye calibration problem as a posegraph optimization problem, which allows for nonpinhole camera models.
CNNs and deep learning.Convolutional neural networks (CNNs) and deep learning have been employed recently in multiple contexts to predict camera pose. For instance, [16] designed CNNs to predict relative pose in stereo images. Peretroukhin and Kelly [17], in a visual odometry context, use classical geometric and probibalistic approaches, with deep networks used as a corrector [17]
. Other works focussed on appropriate loss functions for camera pose localization in the context of monocular cameras
[11].Iii Hardware configuration and data acquisition
The camera networks we consider are made up of cameras, which may be asynchronous. The calibration object may take many different forms.
In our implementation, we used a set of two or more planar calibration targets created with chessboardtype aruco tags ([8] and generated with OpenCV [4]), where they are referred to as charuco patterns. A threepattern system, with a fourcamera network, is shown in Figure 1. These patterns are quite convenient in that we had them printed on aluminum, which can be used outdoors and washed, and their frames can be rigidly attached to one another and then disassembled for shipment. The particular arrangement, and orientation, of the patterns is computed automatically by the algorithm; we refer to the collection of rigidly attached patterns as the calibration rig. As long as a particular calibration target’s orientation can be detected, and its pattern index also detected, there is no restriction on the type of pattern used so long as the connections between individual calibration targets is rigid.
The process of data acquisition is as follows. First, multiple images are acquired per camera to allow for internal parameter calibration, or it is assumed that the cameras are already internally calibrated. Then, the user places the calibration rig in view of at least one camera. Then they indicate that this is time point and acquire an image from all cameras. Then, the calibration rig is moved such that at least one or more cameras view a pattern, the user indicates that the current time is time point and images are written from all of the cameras. This process if continued for the desired number of time points; minimum specifications on visibility of patterns and cameras is given in Section VB.
Iv Camera network calibration
The camera network calibration problem consists of determining the relative homogeneous transformation matrices (HTMs) between cameras. Given the data acquisition procedure outlined in previous sections, our formulation of the problem involves three categories of HTMs: camera , pattern and time transformations. These HTM categories are related as follows. Suppose cameras are stationary, and the pattern(s) are rigidly attached to each other, creating a calibration rig with unknown transformations between patterns. At time , each camera acquires an image of the scene. Then, the calibration rig is moved. At time , all cameras acquire another image of the scene. This process is repeated until time . Alternative interpretations, with no change to the underlying method except for the physical relationships of cameras to patterns, and what is stationary, versus what is moving, are discussed in Section VID.
Although it is important that the cameras and patterns be stationary at a particular time , the use of ‘time ’ does not imply that the cameras are synchronized, but instead that the images be captured and labeled with the same time tag for the same position of the calibration rig. A mechanism for doing so may be implemented through a user interface that allows the user to indicate that all cameras should acquire images, assign them a common time tag, and report to the user when the capture is concluded.
Once images are captured for all time steps, camera calibration of internal parameters is performed for each of the cameras independently. Individual patterns are uniquely identified through aruco or charuco tags [8]; cameras’ extrinsic parameters (rotation and translation) are computed with respect to the coordinate systems defined by the patterns recognized in the image. If two (or more) patterns are recognized in the same image, that camera will have two (or more) extrinsic transformations defined for that time instant, one for each of the patterns recognized.
Iva Problem Formulation
When camera observes pattern at time , the HTM relating the coordinate systems of to can be computed using conventional extrinsic camera calibration methods. We denote this transformation as the HTM
. Each HTM is composed of an orthogonal rotation matrix, a translation vector of three elements, and a row with constant terms:
(1) 
Let represent the world to camera transformations for camera , represent the calibration rig to pattern transformations , and correspond to the calibration rig transformations from the world coordinate system at time . There is a foundational relationship (FR) between the unknown HTMs , , , and the known HTMs .
(2) 
For a particular dataset, each detection of a calibration pattern results in one FR represented by equation Eq. 2. That is, let be the set of cameras, be the set of time instants when target is observed by camera , and be the set of targets observed by camera at time . Then, the set of foundational relationships is given by
(3) 
where is known and the other HTMs are unknown.
For instance, assume camera detects pattern at times and , and pattern at time , and camera detects pattern at time , the set of foundational relationships is given by . Each element of corresponds to one observation for the estimation of the unknown HTMs. We describe the estimation process in Section. V.
The world coordinate system is defined by the coordinate system of a reference pattern observed at a reference time . Hence, and , where
is an identity matrix of size four. We specify how
and are chosen in Section VC. A graphical representation of a foundational relationship is shown in Figure 2.V Estimation of the unknown transformations
Our method to find the unknown transformations consists of five steps, which are summarized in Alg. 1. Each step is described in detail below.
Va Step 1: Intrinsic calibration of individual cameras
Step 1 is a standard component of camera calibration procedures, and will not be discussed in depth. Each pattern detection triggers the generation of one FR in Eq. 3. Note that that some images may allow the detection of more than one pattern. Also, since this step does not require knowledge of the pose of the calibration rig, it is possible to utilize images acquired as the rig is moved from position and , if they are available.
VB Step 2: Calibration condition test
The test consists of constructing an undirected graph in which the vertices are the camera and pattern transformations and the edges correspond to the FRs between camera and pattern . If the graph consists of a single connected component, then the entire network may be calibrated with this method. If the graph consists of multiple connected components, then the cameras corresponding to each component can be calibrated with respect to each other but not with respect to the cameras in a different component.
VC Step 3: Reference pattern and time selection
The reference pattern and time are chosen such that the greatest numbers of variables can be initialized. From the list of foundational relationships, the time and pattern combination with the greatest frequency is chosen as the reference pair. That is, the reference pattern is given by
(4) 
which corresponds to the pattern that has been observed the most times by the all the cameras. The reference time is given by
(5) 
which is the time corresponding to the highest number of observations of target . This reference pair is substituted into the list of foundational relationships, and .
VD Step 4: Initial solution computation
We initialize the set of approximate solutions by identifying all the elements of for which and and computing the corresponding HTM for all the cameras that observe the reference pair. At this stage, since at least one camera transformation can be determined from the reference pair with frequency at least one.
The solutions in are then substituted into the corresponding elements of , and the elements of for which all the transformations are known are removed from the set. Out of the remaining elements of , those with only one unknown are then solved and the corresponding solutions are included in . This process is repeated until .
VD1 Solving the relationship equations
Let be the set of elements of for which only the HTM is unknown (at a given iteration, could be either , , or ). We solve Eq. 3 for the elements of by rearranging the terms of the relation in the form
(6) 
where and are the known HTMs and is the unknown transformation. If , we simply solve . Otherwise, we combine all the relations in and solve for using Shah’s method [19].
VD2 Relationship solution order
At each iteration of the process, it may be possible to solve Eq. 3
for more than one transformation. We determine the solution order using a heuristic approach that prioritizes transformations that satisfy the highest number of constraints. That is, we select the HTM
that maximizes . Ties are broken by choosing transformations in the order , , , and solving equations according to their indices order, if necessary.VE Step 5: Reprojection error minimization
Once initial values for all the HTMs are estimated, they are refined by minimizing the reprojection error. Similarly to [22, 23] in the robotworld, handeye calibration problem, the projection matrix can be represented by
(7) 
and the relationship between a threedimensional point on a calibration pattern and the corresponding twodimensional point in the image is
(8) 
Supposing that the detected image point that corresponds to is , its reprojection error is or, using Eqs. 7 and 8,
(9) 
The total reconstruction error is then given by
(10) 
where is the set of calibration pattern point pairs observed in the computation of the HTM corresponding to the FR .
Vi Experiments
The method was evaluated in synthetic as well as realworld experiments. First, we will introduce three evaluation metrics in Section
VIA, and then describe datasets and results in Sections VIB and VIC, respectively.Via Evaluation
We used three metrics to evaluate the accuracy of the calibration method: algebraic error, reprojection root mean squared error, and reconstruction accuracy error.
ViA1 Algebraic error
The algebraic error represents the fit of the estimated HTMs to their corresponding FRs. It is given by
(11) 
where is a FR, and denotes the Frobenius norm.
ViA2 The Reprojection Root Mean Squared Error (rrmse)
The reprojection root mean squared error is simply
(12) 
where is the total number of points observed.
ViA3 Reconstruction Accuracy Error
The reconstruction accuracy error, , is used here in a similar way as in [23], to assess the method’s ability to reconstruct the threedimensional location of the calibration pattern points.
In [23], given detections of the same pattern point in images from different cameras at the same time, the threedimensional point that generated the image points was estimated. The difference between the estimated and ground truth world points represents reconstruction accuracy ().
Here, is used in a slightly different way; given detections of a pattern point in images over all cameras and times, the threedimensional point that generated those pattern points is estimated.
As before, the difference between estimated and ground truth world points represents reconstruction accuracy (). The ground truth consists of the coordinate system defined by the calibration pattern, so is known even in real settings. A more formal definition follows.
The most likely threedimensional point that generated the corresponding image points can be found by solving the following minimization problem
(13) 
is found for all calibration pattern points found in two or more FRs, generating the set . Then, the reconstruction accuracy error () is the average squared Euclidean distance between the estimated points and corresponding calibration object points .
(14) 
ViB Datasets
ViB1 Synthetic experiments
There are two synthetic datasets. OpenGL was used to generate images of charuco patterns from cameras with known parameters. The arrangements of the cameras are shown in Figure 1, where in the first experiment, two pairs of cameras are arranged on two perpendicular sides of a cube. The second experiment represents an arrangement more similar to that used in motioncapture experiments, where cameras are mounted on the wall around a room. For both, three charuco calibration patterns were moved rigidly within the scene.
ViB2 Camera network
A camera network was constructed using low cost webcameras, and arranged on two sides of a metal rectangular prism, as shown in Figure 4. The calibration rig is constructed of two charuco patterns rigidly attached to each other, and data acquisition was as in Section III. Computed camera positions are shown in Figure 4, on the right.
ViB3 Rotating object system
As mentioned previously, the method can be applied to other data acquisition contexts, such as where the goal is to reconstruct an object that is rotating and observed by one camera. In this application, the eventual goal is to phenotype the shape of fruit, such as strawberry.
In this experiment, the object was mounted on a spindle. A program triggers the spindle to turn via a stepper motor, as well as to acquire approximately images from one consumergrade DSLR camera. On the spindle are are two threed printed cubes, which are rotated from each other by 45 degrees. A charuco pattern is mounted on each visible cube face, totalling patterns. The experimental setup is shown in Figure 5, on the left side.
The calibration method from this paper is applied to this experimental design by interpreting each image acquisition of the camera as a time step. The camera is focussed between samples, so the background aruco tag image in Figure 5, coupled with exiftag information, is used to calibrate robustly for internal camera parameters.
Following the estimation of the unknown variables for the one camera, eight patterns, and approximately times, virtual camera positions are generated for each image acquisition relative to the reference pattern and time. In Equation 15, is the HTM representing the sole camera’s pose. For all times , virtual cameras are generated using Eq. 15.
(15) 
These virtual camera positions are shown in Figure 5, right side as the cyan pyramids. As expected, the cameras are distributed over a circle, and the result from step 4 (right, top) is improved by minimizing reprojection error (right, middle). Using the method of Tabb [21], the shape of the object is reconstructed (right, bottom).
Two datasets of this type were used as experiments, one with strawberry, and another with potato.
ViC Results and Discussion
Dataset  cameras  patterns  times ()  runtime  

Synthetic 1  18  4  3  10  0.142525  0.32111  0.0708624  46 
Synthetic 2  230  12  3  40  19.7293  0.489233  0.0101121  630 
Rotating set 1  162  1  8  60  6806.21  0.255644  0.00222852  338 
Rotating set 2  161  1  8  61  6241.99  0.263467  0.00248751  373 
Camera Box  95  12  2  10  86.1662  3.11156  0.225345  219 
Max time  runtime  

4  37  122.164  2.85215  1.44212  94 
5  49  84.235  2.60504  0.518698  114 
6  58  92.5878  2.84392  0.671664  153 
7  58  92.5878  2.84392  0.671664  136 
8  74  69.1624  2.46442  0.335494  170 
9  85  96.972  2.77998  0.280364  195 
10  95  86.1662  3.11156  0.225345  219 
The calibration method was applied to the two synthetic datasets, two rotatingstyle datasets, and one camera network dataset. Results in terms of the three metrics, algebraic error, reprojection root mean squared error, reconstruction accuracy error, and runtime, are shown in Table I. We implemented the method in C/C++ on a machine with a 12 core Intel Xeon(R) 2.7 GHz processor and 256 GB RAM, acquired in 2014.
Qualitatively, as shown in Figures 3 (Synthetic dataset 1), 5 (Rotating 1), and 4 (Camera Network), the estimated camera poses either visually match camera positions or where cameras are expected (in the case of rotatingstyle datasets). All of the experiments resulted in low values, though the camera network had the highest. The higher value of the camera network experiment versus the others is perhaps explained by that experiment’s lower camera quality (i.e., webcameras), and small number of time instants versus comparably larger number of cameras.
For all of the datasets, the method produced on average, less than mm reconstruction accuracy error, which was surprising. For datasets with many high quality views of the calibration rig, such as the rotatingstyle datasets, these values are very low ( mm).
From Table I, algebraic error seems not well related to the quality of results that are of importance to reconstruction tasks. While algebraic error is used in step 4 to generate initial solutions, algebraic error may be high for for views of the calibration patterns where the estimation is not reliable. The rotatingstyle datasets have a high propotion of images in this category, so we hypothesize that this is why the algebraic error is so high for those datasets.
Concerning runtime, step 5, minimizing reprojection error, is the most timeconsuming step of the process. Large numbers of foundational relationships heavily influences runtime. Our runtime calculations include the time to load the dataset, as well as calibrate for internal parameters and detect charuco patterns.
Impact of the number of foundational relationships. Using the camera network dataset VIB2, we experimented with the number of images used in the calibration. Results are shown in Table II. The minimum number of images needed to solve the calibration problem using this dataset is . From this dataset, as the number of images increases, the increases, and the decreases. This is likely because the number of constraints between HTMs increases with more images, which leads to on average, lower individual image outcomes (concerning ), but better global outcomes in terms of . As expected, the runtime increases as the number of foundational relationships grows.
The experiment demonstrates that a 12camera network can be calibrated with a small number of time instants, allowing its use by nonexpert users.
ViD Alternate data acquisition scenarios
We now discuss alternate data acquisition scenarios, beyond asynchronous camera networks, or rotating/turntablestyle setups.
Consider a synchronized camera network context, such as a Vicom or Optitrak systems, where current practice is to wave wandmounted LEDs in front of each camera. This does not take much time, but could be faster by walking through the space with two calibration patterns rigidly attached to each other. Since these systems have an extremely high frame rate, a small subset of images could be chosen to perform the calibration so as not to create an unreasonably large dataset.
Another natural context would be of a multiple camera system that is mobile, and the calibration rig is fixed. In this case, the multiplecamera system is simply moved around the calibration rig until the camerapattern graph constraint is met (Stage 2) and the camera network problem can be solved with this method.
Vii Conclusions
We presented a method for the calibration of asynchronous camera networks, that is suitable for a range of different experimental settings. The performance of the method was demonstrated on five datasets.
Future work includes exploring ways in which it is possible to reduce runtime of step 5, the minimization of reprojection error. Possible avenues include selecting an optimal set of foundational relationships for step 5, for instance.
Other future work includes extending the calibration method to other contexts. For instance, in distributed or asynchronous camera networks, the manual triggering of data acquisition can be automated by monitoring the relative pose between the calibration patterns and the individual cameras at every frame. Once the pose differences stabilize below the expected pose estimation error, the object can be considered stationary, triggering image capture across all the cameras.
Acknowledgments
We gratefully acknowledge the use of the rotating datasets from Mitchell Feldmann in Steven J. Knapp’s lab; their work is supported in part by University of California and grants to S.J.K. from the USDA National Institute of Food and Agriculture Specialty Crops Research Initiative (#20175118126833) and California Strawberry Commission.
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