LaserCamCalib: Extrinsic Calibration Between a Camera and a Laser Rangefinder


This code computes the 6D rigid transformation between a camera and a laser rangefinder, given a set of calibration plane poses and the correspondent sets of 2D points obtained from depth measurements.

For implementation details refer to:

F. Vasconcelos, J.P. Barreto, and U. Nunes, "A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder", IEEE Transactions on Pattern Analysis and Machine Intelligence,2012

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