Extrinsic Calibration of a 3 D Laser Scanner and an Omnidirectional Camera ?

  title={Extrinsic Calibration of a 3 D Laser Scanner and an Omnidirectional Camera ?},
  author={Gaurav Pandey and James R. McBride and Silvio Savarese},
We propose an approach for external calibration of a 3D laser scanner with an omnidirectional camera system. The utility of an accurate calibration is that it allows for precise co-registration between the camera imagery and the 3D point cloud. This association can be used to enhance various state of the art algorithms in computer vision and robotics. The extrinsic calibration technique used here is similar to the calibration of a 2D laser range finder and a single camera as proposed by Zhang… CONTINUE READING
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