Extrinsic calibration of a camera with dual 2D laser range sensors for a mobile robot

Abstract

A simple and effective algorithm is Proposed for calibrating the extrinsic parameters among a camera and dual laser range sensors whose traces are invisible by using a specially designed checkerboard. On the basis of an analysis of reference coordinates, range data can be transformed into world coordinate, and then a linear solution can be obtained for the problem. The simulation results confirmed that the proposed algorithm can yield good results as compared with a typical calibration method.