Multi-camera calibration in distributed vision system

This work focuses on a calibration of a set of heterogeneous cameras (pinhole and omnidirectional cameras), where images processing and analysis are necessary to retrieve information about the framed scene. The main problem considered in this work regards the determination of a generic point position placed on the floor and shown by a set of cameras. With the objective to correlate a generic floor point to a point in the camera video streaming, it is necessary to compute the main parameters that describe the cameras model and those that correlate the cameras to the floor. For the first parameters are used some tools found in the literature. For the latter a simple and well defined procedure and a toolbox for the pinhole camera have been developed. Moreover, the results of quality tests and verifications coming from the Click and View application specifically builtare shown. Finally it was included Click and Go application, a robot controller that use this system