Calibration and Absolute Pose Estimation of Trinocular Linear Camera Array for Smart City Applications

A method for calibrating a Trinocular Linear Camera Array (TLCA) for traffic surveillance applications, such as towards smart cities, is presented. A TLCA-specific parametrization guarantees that the calibration finds a model where all the cameras are on a straight line. The method uses both a chequerboard close to the camera, as well as measured 3D points far from the camera: points measured in w...