Patent ID: 11967111
Assignee: KWANGWOON UNIVERSITY INDUSTRY-ACADEMIC COLLABORATION FOUNDATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. The multi-view camera-based iterative calibration method of claim 8, wherein, when performing the top-bottom calibration, the round calibration, and the virtual viewpoint calibration, the optimizing of the transformation parameter is repeated by updating a next coordinate transformation parameter Pn+1 from a current coordinate transformation parameter Pn according to Equation 1,, P
          
            n
            +
            1
          
        
        =
        
          
            P
            n
          
          -
          
            α
            ⁢
            
              
                ∂
                
                  f
                  Error
                
              
              
                ∂
                
                  P
                  n
                
              
            
          
        
      
    
    
      
        [
        
          Equation
          ⁢
          
            
          
          ⁢
          1
        
        ]
      
    
  

wherein α is a preset constant, P represents a rotation transformation matrix R, a translation matrix t, and a scaling factor S of the transformation parameter, Pn represents a value of the current coordinate transformation parameter, Pn+1 represents a value of the next coordinate transformation parameter to be corrected, ∂fError/∂Pn represents partial differentiation of fError by the transformation parameter, and fErrer is an error function between the actual coordinates (Xref) of the point cloud of the reference coordinate system and the transformation coordinate (Xi′) by the transformation parameter.