Mutual Calibration of a Camera and a Laser Rangefinder

Vincenzo Caglioti, Alessandro Giusti, Davide Migliore



We present a novel geometrical method for mutually calibrating a camera and a laser rangefinder by exploiting the image of the laser dot in relation to the rangefinder reading. Our method simultaneously estimates all intrinsic parameters of a pinhole natural camera, its position and orientation w.r.t. the rangefinder axis, and four parameters of a very generic rangefinder model with one rotational degree of freedom. The calibration technique uses data from at least 5 different rangefinder rotations: for each rotation, at least 3 different observations of the laser dot and the respective rangefinder reading are needed. Data collection is simply performed by generically moving the rangefinder-camera system, and does not require any calibration target, nor any knowledge of environment or motion. We investigate the theoretical limits of the technique as well as its practical application; we also show extensions to using more data than strictly necessary or exploit a priori knowledge of some parameters.


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Paper Citation

in Harvard Style

Caglioti V., Giusti A. and Migliore D. (2008). Mutual Calibration of a Camera and a Laser Rangefinder . In VISAPP-Robotic Perception - Volume 1: VISAPP-RoboPerc, (VISIGRAPP 2008) ISBN 978-989-8111-23-4, pages 33-42. DOI: 10.5220/0002341700330042

in Bibtex Style

author={Vincenzo Caglioti and Alessandro Giusti and Davide Migliore},
title={Mutual Calibration of a Camera and a Laser Rangefinder},
booktitle={VISAPP-Robotic Perception - Volume 1: VISAPP-RoboPerc, (VISIGRAPP 2008)},

in EndNote Style

JO - VISAPP-Robotic Perception - Volume 1: VISAPP-RoboPerc, (VISIGRAPP 2008)
TI - Mutual Calibration of a Camera and a Laser Rangefinder
SN - 978-989-8111-23-4
AU - Caglioti V.
AU - Giusti A.
AU - Migliore D.
PY - 2008
SP - 33
EP - 42
DO - 10.5220/0002341700330042