Calibration Algorithm for a 3D Scanner Based on 2D Lidar and Visible Light Cameras

Various sensors, including lasers, are used for 3D reconstruction. 3D lasers are expensive and have limitations in their use. This paper describes an approach to joint calibration of 2D lidar and camera sensors using different calibration objects. The stability of the algorithms to measurement errors produced by the lidar and to errors associated with determining the external parameters of the camera is analyzed. Limitations on the calibration object, which can be used for separate calibration of the 2D lidar from the camera, are described.