Extrinsic calibration of non-overlapping camera-laser system using structured environment

@article{Bok2014ExtrinsicCO,
  title={Extrinsic calibration of non-overlapping camera-laser system using structured environment},
  author={Yunsu Bok and Dong-Geol Choi and Pascal Vasseur and In-So Kweon},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={436-443}
}
In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem - one utilizes a plane; the other utilizes an intersecting line of two planes. For each… CONTINUE READING
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