Marker based simple non-overlapping camera calibration

This paper describes a method for calibrating non-overlapping cameras in a simple way: using markers on the cameras. By adding an AR (Augmented Reality) marker to a camera, we can find the transformation between the fixed AR marker and the camera's center. With such information, relative pose of cameras can be easily found as long as the marker located on them is visible. Our method consists of the following two steps: (1) use an extra camera and a chessboard to find the transformation between the AR marker and the camera center. (2) Use the information from (1) and transformation between different markers to calibrate non-overlapping cameras. Compare to other non-overlapping calibration methods, our method can work with as less as one image and does not suffer from the degenerate cases.