Method, computer program, machine-readable medium and control unit for determining camera pose in multi-camera system

A method for determining a camera pose in a multi-camera system, the multi-camera system comprising a first camera (2) having a first field of view (4) and a second camera (3) having a second field of view (5), the first camera (2) and the second camera (3) being arranged such that the first field of view (4) does not overlap the second field of view (5), the first camera data is collected for a first event in the first field of view (4) and the second camera data is collected for a second event in the second field of view (5), the second event being a causal event induced by the first event, a relative camera pose between the first camera (2) and the second camera (3) is determined based on first camera data for the first event, second camera data for the second event, and at least one causal relationship between the first event and the second event. 一种用于确定多摄像头系统中的摄像头位姿的方法，所述多摄像头系统包括具有第一视场(4)的第一摄像头(2)和具有第二视场(5)的第二摄像头(3)，所述第一摄像头(2)和所述第二摄像头(3)布置成使得所述第一视场(4)与所述第二视场(5)没有重叠，第一摄像头数据是针对所述第一视场(4)中的第一事件收集的，第二摄像头数据是针对