Calibration for an Integrated Measurement System of Camera and Laser and its Application

Abstract

This paper presents a calibration approach for an integrated measurement system of camera and laser. Via measuring the coordinates of special points in both of camera and laser coordinate systems, and performing a simple matrix calculation, the sensor transformation parameters of the integrated system are identified. In order to apply the integrated system to the mobile robot measurement system and 3D reconstruction, the approximate formulas are given to calculate the rotation angle of laser sensor fixated on a chosen image point. Finally, the experimental results are given to demonstrate the calibration approach and the application of the integrated system