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— Robots are often equipped with 2D laser-rangefinders (LRFs) and cameras since they complement well to each other. In order to correctly combine measurements from both sensors, it is required to know their relative pose, that is, to solve their extrinsic calibration. In this paper we present a new approach to such problem which relies on the observations(More)
We provide a simple closed-form solution to the Perspective three orthogonal angles (P3oA) problem: given the projection of three orthogonal lines in a calibrated camera, find their 3D directions. Upon this solution, an algorithm for the estimation of the camera relative rotation between two frames is proposed. The key idea is to detect triplets of(More)
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