Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes

• Published in: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4164 - 4169
• Main Authors: Scaramuzza, D., Harati, A., Siegwart, R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2007
• Subjects: Calibration; Computer vision; IEEE members; Intelligent robots; Laboratories; Laser modes; Layout; Mobile robots; Robot vision systems; Smart cameras

In this paper, we describe a new approach for the extrinsic calibration of a camera with a 3D laser range finder, that can be done on the fly. This approach does not require any calibration object. Only few point correspondences are used, which are manually selected by the user from a scene viewed b...