Framework for hierarchical calibration of multi-camera systems for teleimmersion

In this paper we present framework for hierarchical calibration of multi-camera based teleimmersion systems. First, we calibrate the internal camera parameters and geometry of each stereo cluster using a checkerboard. Next, we present a robust and efficient method to externally calibrate the location of the stereo clusters using virtual calibration object created by two LED markers. Our novel algorithm does not require for all the cameras to share common workspace; only pairwise overlap is required. Finally, we address geometric correspondence between several remote locations by proposing a simple calibration method.