Technical Report Number
This paper describes theoretical and experimental results for the auto-calibration of sensor platform consisting of a camera and a laser range ﬁnder. Real-world use of autonomous sensor platforms often requires the recalibration of sensors without an explicit calibration object. The constraints are based upon data captured simultaneously from the camera and the laser range ﬁnder while the sensor plat-form undergoes an arbitrary motion. The rigid motions of both sensors are related, so these data constrain the relative position and orientation of the camera and laser range ﬁnder. We introduce the mathematical constraints for auto-calibration techniques based upon both discrete and differential motions, and present simulated experimental results, and results from a implementation on a B21rT M Mobile Robot from iRobot Corporation. This framework could also encompass extrinsic calibration with GPS, inertial, infrared, and ultrasonic sensors.
Pless, Robert and Zhang, Qilong, "Extrinsic Auto-calibration of a Camera and Laser Range Finder" Report Number: WUCSE-2003-59 (2003). All Computer Science and Engineering Research.