One Shot Extrinsic Calibration of a Camera and Laser Range Finder Using Vertical Planes

In this paper, we present a new algorithm for the extrinsic calibration of a camera and laser range finder just using one-shot data. Most previous algorithms require multiple sets of data acquired under different poses. We newly designed a calibration structure where multiple polyhedrons are set in predefined positions on the ground plane which allow the natural application of multiple point-line constraints for the extrinsic calibration of a camera and laser range finder. Control points are extracted from laser range finder’s data by hand. If automatic detection of control points is possible, presented algorithm can be used for in-situ extrinsic calibration of a camera and laser range finder. Even using one-shot of data, presented algorithm gives comparable accuracy compared to conventional algorithm which requires multiple sets of data under different pose.