A Method of Calibrating the Intrinsic and Extrinsic Camera Parameters Separately for Multi-Camera Systems

In this paper, a flexible method of camera calibration is proposed: Firstly, calibrate the intrinsic camera parameters including a coefficient of radial distortion by moving a ID object (points aligned on a line) with a invisible fixed point; Secondly, calibrate the extrinsic camera parameters relative to a given world coordinate system using the four-point object which right-angle shaped involving three collinear points and one point on the perpendicular direction. The calibration objects are simple to make and can be perfectly observed from any orientations. With these merits, the method is very practical to calibrate the multi-camera systems. Experimental results show that, the calibration is of high precision and the procedure is very convenient.