Spatial calibration method, processing device, computer program and computer readable medium

The invention discloses a spatial calibration method, a processing device, a computer program and a computer readable medium. In accordance with some embodiments of the present disclosure, a method of spatially calibrating a first image against a second image is provided. After obtaining a plurality of pairs of points of interest, each pair matches a point of interest in the first image with a respective point of interest in the second image, the method further comprising iteratively determining a projection model between the two images and calibrating the first image based on the determined projection model. The iteration of the determination includes shifting the position of the point of interest, determining projection model candidates using a plurality of pairs of points of interest, and evaluating a re-projection error between the position of the point of interest projected using the projection model candidates and the position of the respective point of interest. 本发明公开了空间校准方法、处理装置、计算机程序和计算机可读介质。根据本公开的一些