Fast Extrinsic Calibration of a Laser Rangefinder to a Camera

{Ranjith Unnikrishnan , Martial Hebert}

Abstract:
External calibration of a camera to a laser rangefinder is a common pre-requisiteon today’s multi-sensor mobile robot platforms. However, the process of doing sois relatively poorly documented and almost always time-consuming. This documentoutlines an easy and portable technique for external calibration of a camera to a laserrangefinder. It describes the usage of the Laser-Camera Calibration Toolbox (LCCT),a MatlabR -based graphical user interface that is meant to accompany this document andfacilitates the calibration procedure. We also summarize the math behind its development.

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