A Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera

We present a novel method for extrinsically calibrating a camera and a 2D laser rangefinder whose beams are invisible from the camera image. We show that the point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the relative pose between two sensors. Next, we present an approach to obtain analytic...