Configuration Supporting System of Intelligent Space Based on Inherited Automatic Pose Estimation for Distributed RGB-D Cameras

This study proposes an automatic pose estimation method for distributed RGB-D cameras aimed at supporting the configuration of intelligent spaces. The proposed method is based on the independent pose estimation of each camera, that is effective for scalability of intelligent space configuration. The distributed camera poses are automatically estimated by utilizing the extrinsic parameters of already aligned cameras and the point cloud alignments among the adjacent cameras and the 3D map. This approach significantly reduces the workload required for building intelligent spaces. Furthermore, a person tracking system is constructed as the application, demonstrating the practical usability of the proposed method.