Calousel: Extrinsic Calibration of Non-overlapping Multi-camera Systems from Pure Rotation

• URL: http://arxiv.org/abs/2606.25646v1
• Date: Wed, 24 Jun 2026 09:54:20 GMT
• Title: Calousel: Extrinsic Calibration of Non-overlapping Multi-camera Systems from Pure Rotation
• Abstract summary: Conventional target-based methods impose substantial target setup overhead.<n> Motion-based approaches instead suffer from drift error, scale ambiguity, and motion degeneracy.<n>We propose a novel calibration method that leverages pure rotational motion, requiring only a single static calibration board.
• Score: 7.816762304840921
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Extrinsic calibration of multi-camera systems with non-overlapping FOVs has been a challenging problem in the robotics literature. Conventional target-based methods impose substantial target setup overhead, either deploying large calibration targets or requiring pre-measured multi-target poses. Motion-based approaches instead suffer from drift error, scale ambiguity, and motion degeneracy. Securing both accuracy and usability, we propose a novel calibration method that leverages pure rotational motion, requiring only a single static calibration board. The key idea is to make all cameras sequentially observe the same target under a shared geometric reference, even without overlapping views. To integrate these time-separated observations, we formulate the problem using a latent turntable frame and a 3D error on SE(3) within a global optimization framework. We validate the proposed method on both a controlled camera rig and a full-scale vehicle platform with heterogeneous cameras, and analyze robustness under non-ideal turntable motion. Extensive experiments show that our approach maintains competitive accuracy without specialized precision hardware, proving its strong suitability for realistic on-site deployments. Our code is publicly available here.

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