Iterative extrinsic calibration using virtual viewpoint for 3D reconstruction

•A new camera calibration to generate a high-quality and photorealistic 3D volumetric model using eight low-cost RGB-D cameras located in a space.•Effectively mitigate the distortion over the distance of the ToF sensor.•Solve the convergence of calibration errors that occur in the sequential calibration of multiview cameras.•Increase the continuity of viewpoints between cameras.•Relatively low error of about 3.5 mm in SD, and high-speed operation of about 30 ms (30 fps) per second.