SLAM-based cooperative calibration for optical sensors array with GPS/IMU aided

Loading wide baseline multi-arrays optical sensor system enables a UAV to obtain large field of view and multi-view information, and maximize its detection performance. An accurate calibration is a necessary prerequisite. Since the key problem on the calibration of multi-array optical system is how to find the accurate extrinsic parameters of single array, we propose a cooperative calibration with GPS/IMU aided for the single array optical system to improve the accuracy of calibration. Our method does not require an initial guess of any extrinsic parameter. Through extensive field tests on ground prototype experimental system, we demonstrate that our algorithm has more accuracy compared to multi-camera calibration without GPS/IMU aided as well as robustness for calibration of single array optical system.