## Extrinsic calibration of a camera and laser range finder (2004)

Venue: | In IEEE International Conference on Intelligent Robots and Systems (IROS |

Citations: | 58 - 0 self |

### BibTeX

@INPROCEEDINGS{Zhang04extrinsiccalibration,

author = {Qilong Zhang},

title = {Extrinsic calibration of a camera and laser range finder},

booktitle = {In IEEE International Conference on Intelligent Robots and Systems (IROS},

year = {2004},

pages = {2004}

}

### Years of Citing Articles

### OpenURL

### Abstract

Abstract — We describe theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a 2D laser range finder. The calibration is based on observing a planar checkerboard pattern and solving for constraints between the “views ” of a planar checkerboard calibration pattern from a camera and laser range finder. we give a direct solution that minimizes an algebraic error from this constraint, and subsequent nonlinear refinement minimizes a re-projection error. To our knowledge, this is the first published calibration tool for this problem. Additionally we show how this constraint can reduce the variance in estimating intrinsic camera parameters. I.

### Citations

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