A combined microphone and camera calibration technique with application to acoustic imaging

We present a calibration technique for an acoustic imaging microphone array, combined with a digital camera. Computer vision and acoustic time of arrival data are used to obtain microphone coordinates in the camera reference frame. Our new method allows acoustic maps to be plotted onto the camera images without the need for additional camera alignment or calibration. Microphones and cameras may be placed in an ad-hoc arrangement and, after calibration, the coordinates of the microphones are known in the reference frame of a camera in the array. No prior knowledge of microphone positions, inter-microphone spacings, or air temperature is required. This technique is applied to a spherical microphone array and a mean difference of 3 mm was obtained between the coordinates obtained with this calibration technique and those measured using a precision mechanical method.