Joint kinect and multiple external cameras simultaneous calibration

Camera calibration applications are used in many places, such as visual estimation, 3D reconstruction and object tracking. Over the past few decades, many methods have been proposed and applied to these areas. However, with the diversification of sensor technology, the problem of multi-sensor joint calibration becomes more and more obvious. In this paper, we propose a new method that can simultaneously calibrate relative poses of three external cameras and a Kinect. And the final cost function is optimized for joint calibration. In addition, the practical platform has also tested the method, and the experimental results show that the accuracy of the proposed method significantly improved.