Zhengbin Li

Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-camera Using an Orthogonal Trihedron

2D laser range-finders and depth-cameras are usually equipped on service robots. But there are rarely calibration methods of them. This paper proposes an extrinsic calibration method of a 2D laser range-finder and a depth-camera using an orthogonal trihedron. The trihedron with orthogonal assumption…