Unified calibration between DVS and camera

A unified calibration method between a DVS and a camera, in which a special calibration board is set up which consists of a calibration grid pattern and LEDs attached to the corners of the calibration grids. The camera finds the corners of calibration grid by capturing the image, and the DVS finds the same corners by detecting the intensity changes of the LEDs at the corners, to establish a unified world coordinate system as a reference coordinate system. After performing the calibration and coordinate system transformations, an extrinsic matrix between the DVS and the camera can be obtained.