Estimating Relative Pose between Nonoverlapping Cameras by Four Laser Pointers Based on General Camera Model

In this paper we propose a method of estimating relative pose between non-overlapping cameras by minimal four laser pointers based on a general camera model. In the proposed method, four laser pointers are mounted on a calibration chess board. We call this apparatus a laser calibration board, and model it as a general camera. First, the relative pose of each laser pointer at the coordinate system of the calibration chess board is calibrated. Then, the above calibrated laser calibration board is used to estimate the relative pose between two non-overlapping cameras by using a NPnP (Non-Perspective n Points) algorithm for a general camera. The experimental results are given to show the effectiveness of the proposed method also.