Abstract

In this paper, a novel extrinsic calibration method of a camera and a laser range finder is presented using a calibration cube. The calibration is based on observing three edges of the cube from the camera and three laser points projected onto the edges from the laser finder. The equation for extrinsic calibration parameters, a rotation matrix and a translation vector, is built based on the constraint that in the image coordinate the projection of laser point onto the image plane is on that of the three cube edges. The parameters are calculated with three changes of pose of the cube. Experimental result shows that the proposed method is feasible and accurate.

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