Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
Tech. Report, CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005
Abstract
External calibration of a camera to a laser rangefinder is a common pre-requisite on today? multi-sensor mobile robot platforms. However, the process of doing so is relatively poorly documented and almost always time-consuming. This document outlines an easy and portable technique for external calibration of a camera to a laser rangefinder. It describes the usage of the Laser-Camera Calibration Toolbox (LCCT), a Matlab based graphical user interface that is meant to accompany this document and facilitates the calibration procedure. We also summarize the math behind its development. The software is accessible online at www.cs.cmu.edu/~ranjith/lcct.html, as well as at the VMR Lab Software page at www.cs.cmu.edu/~vmr/software/software.html .
BibTeX
@techreport{Unnikrishnan-2005-9235,author = {Ranjith Unnikrishnan and Martial Hebert},
title = {Fast Extrinsic Calibration of a Laser Rangefinder to a Camera},
year = {2005},
month = {July},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-05-09},
keywords = {calibration, laser rangefinder, camera},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.