Self Calibration between a Camera and a 3D Scanner from Natural Scenes

This problem deals with the extrinsic calibration between an omnidirectional camera and 3D laser range finder. The aim is to get a precise mapping of the color information given by the camera onto the 3D points.

The user selects the correspondences between the laser image and the camera image and calibration is done using PnP algorithm. In order to select features from the laser image, the laser depth map is transformed into a new image (Bearing Angle image) where each pixel is proportional to the bearing angle of the corresponding scanned point.


D. Scaramuzza, A. Harati, R. Siegwart. Extrinsic Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, USA, October 2007. [ PDF ]
D. Scaramuzza, R. Siegwart, and A. Martinelli. A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics. International Journal on Robotics Research, Volume 28, issue 2, February, 2009. [ PDF ]