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Indoor positioning system based on multi-camera joint calibration

Aiming at indoor vision positioning, we proposed a multi camera joint calibration based on a Beetle Swarm Optimization Algorithm with Adaptive Mutation, which greatly improved the accuracy of camera calibration. The calibration accuracy of camera internal and external parameters is directly related to the positioning accuracy. It is the most important part of visual positioning. At the same time, in order to improve the positioning accuracy of the moving car, Kalman filter algorithm is used.