EXTRINSIC CALIBRATION OF ROTATING 2D LASER RANGE FINDER AND CAMERA USING PHOTOGRAMMETRIC TEST FIELD AND PING PONG BALLS

Abstract. In this article, a method for the extrinsic calibration of 2D laser range finder and camera is presented. This technique produces 3D point cloud from test field by connecting to servomotor. study, ping balls standard photogrammetric targets were employed as field. Ping pong are used because they can be easily recognized in data camera. To calculate parameters between finder, these control points data. The Laser carried out using created photos captured method, sphere fitted each ball's cloud, coordinates that sphere's center taken ball. By measuring distances various field, scale resolved. approach was compared with another state-of-the-art method. proposed more accurate stable than alternative way, taking into account average inaccuracy check points.