An algorithm for extrinsic parameters calibration of a camera and a laser range finder using line features

@article{Li2007AnAF,
  title={An algorithm for extrinsic parameters calibration of a camera and a laser range finder using line features},
  author={Ganhua Li and Yunhui Liu and Li Dong and Xuanping Cai and Dongxiang Zhou},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={3854-3859}
}
This paper presents an effective algorithm for calibrating the extrinsic parameters between a camera and a laser range finder whose trace is invisible. On the basis of an analysis of three possible features, we propose to design a right-angled triangular checkerboard and to employ the invisible intersection points of the laser range finder's slice plane with the edges of the checkerboard to set up the constraints equations. The extrinsic parameters are then calibrated by minimizing the… CONTINUE READING

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