Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation
International Journal of Computer Vision
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Estimating Geospatial Trajectory of a Moving Camera
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 02
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Image Based Localization in Urban Environments
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Multi-Camera Networks: Principles and Applications
Multi-Camera Networks: Principles and Applications
Real-time hierarchical GPS aided visual SLAM on urban environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Extrinsic camera parameter estimation based-on feature tracking and GPS data
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Fusion of GPS and structure-from-motion using constrained bundle adjustments
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Vehicle tracking across nonoverlapping cameras using joint kinematic and appearance features
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
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In a wide-area camera network, cameras are often placed such that their views do not overlap. Collaborative tasks such as tracking and activity analysis still require discovering the network topology including the extrinsic calibration of the cameras. This work addresses the problem of calibrating a fixed camera in a wide-area camera network in a global coordinate system so that the results can be shared across calibrations. We achieve this by using commonly available mobile devices such as smartphones. At least one mobile device takes images that overlap with a fixed camera's view and records the GPS position and 3D orientation of the device when an image is captured. These sensor measurements (including the image, GPS position, and device orientation) are fused in order to calibrate the fixed camera. This article derives a novel maximum likelihood estimation formulation for finding the most probable location and orientation of a fixed camera. This formulation is solved in a distributed manner using a consensus algorithm. We evaluate the efficacy of the proposed methodology with several simulated and real-world datasets.