Scalable Hardware and Software Procedures for N-ocular Event-Based Stereo System Calibration

Pre-calibrated stereo-based vision approaches offer the capability to resolve 3D feature information instantaneously without the need to register image information and compute camera geometric transformations. Moreover, event-based cameras (EBCs) promise to enhance this capability due to their inherent compression of scene information and high temporal resolution. However, this ability requires careful calibration of the stereo system. Due to their recent inception, current approaches to enable this capability for EBCs are not disseminated amongst the broad community. This report presents a set of hardware and software techniques that can be used and scaled to calibrate N-ocular wide-baseline stereo systems of EBCs. The design of two hardware instruments and two software algorithms are detailed. These approaches are ultimately applied to extract the intrinsic and extrinsic parameters of a four-camera EBC system with millimeter resolution.