Technical Report Number
We describes theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a laser range ﬁnder. The proposed technique requires the system to observe a planar pattern in several poses, and the constraints are based upon data captured simultaneously from the camera and the laser range ﬁnder. The planar pattern surface and the laser scanline on the planar pattern are related, so these data constrain the relative position and orientation of the camera and laser range ﬁnder. The calibration procedure starts with a closed-from solution, which provides initial conditions for a subsequent nonlinear reﬁnement. We present the results from both computer simulated data and an implementation on a B21rT M Mobile Robot from iRobot Corporation, using a Sony ﬁrewire digital camera and SICK PLS laser scanner.
Pless, Robert and Zhang, Qilong, "Extrinsic Calibration of a Camera and Laser Range Finder" Report Number: WUCSE-2003-58 (2003). All Computer Science and Engineering Research.