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Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
R. Unnikrishnan and M. Hebert
tech. report CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005.

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External calibration of a camera to a laser rangefinder is a common pre-requisite on today’s 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 .

R. Unnikrishnan and M. Hebert, Fast Extrinsic Calibration of a Laser Rangefinder to a Camera, tech. report CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005.

@techreport{Unnikrishnan_2005_5293,
   author = "Ranjith Unnikrishnan and Martial Hebert",
   title = "Fast Extrinsic Calibration of a Laser Rangefinder to a Camera",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "July",
   year = "2005",
   number = "CMU-RI-TR-05-09",
   address = "Pittsburgh, PA"
}