Journal of Sensors / 2018 / Article / Tab 3

Research Article

Practical In Situ Implementation of a Multicamera Multisystem Calibration

Table 3

Results for the CMP estimation test.

Adjustment quantities/types of system calibration(1) Pre + trad(2) Trad + self(3) Pre + prop(4) Prop + self

RMSExy [μm]0.990.901.201.03
Number of images139139139139
Number of image points7661764976617649
Average number of points/images55.155.055.155.0
Number of epochs41414141
Average number of images/epochs3.43.43.43.4
Positional CMP range [mm]N/AN/A0.02–0.40.04–0.3
Rotational CMP range []N/AN/A2–124–40
Number of unknowns10891145543599
Redundancy14,23314,15314,77914,699

pre: precalibration of individual cameras; trad: traditional-style bundle adjustment; prop: proposed bundle adjustment with built-in ROCs; self: self-calibration mode.

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