Large-scene non-common-view multi-camera calibration method

The invention provides a large-scene non-common-view multi-camera calibration method which comprises the following steps: arranging a plurality of markers in a test area, and measuring the world coordinate system positions of the markers; observing the marker by using a pan-tilt camera, and observing the pan-tilt camera by using each to-be-calibrated camera; calculating a real three-dimensional track of the pan-tilt camera under a world coordinate system by observing the marker; solving the precise pose of the to-be-calibrated camera under the world coordinate system by utilizing the pan-tiltcamera track segment, correspondingly appearing in the view of each to-be-calibrated camera, of the timestamp; performing matrix transformation on the pose of each to-be-calibrated camera in a world coordinate system to obtain an external parameter matrix between any two cameras. The method is simple, convenient and rapid; calibration of the external parameters of the camera can be completed without specially arranging an