Simultaneous Synchronization and Calibration for Wide-baseline Stereo Event Cameras

TL;DR

This paper introduces a novel algorithm for millisecond-level synchronization and extrinsic calibration of multiple event-based cameras using object motion, overcoming hardware synchronization limitations in diverse environments.

Contribution

The proposed method simultaneously synchronizes and calibrates multiple event cameras by exploiting object motion, eliminating the need for hardware synchronization.

Findings

Successful synchronization in simulated and real-world scenarios

Accurate extrinsic parameter estimation achieved

Effective in indoor and outdoor environments

Abstract

Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises when deploying multiple such cameras: they operate on independent time systems, leading to temporal misalignment. This misalignment can significantly degrade performance in downstream applications. Traditional solutions, which often rely on hardware-based synchronization, face limitations in compatibility and are impractical for long-distance setups. To address these challenges, we propose a novel algorithm that exploits the motion of objects in the shared field of view to achieve millisecond-level synchronization among multiple event-based cameras. Our method also concurrently estimates extrinsic parameters. We validate our approach in both simulated and real-world indoor/outdoor scenarios, demonstrating successful synchronization and accurate extrinsic parameters estimation.