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. 2016 Oct 26;6:35805. doi: 10.1038/srep35805

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Copyright © 2016, The Author(s)

This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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(a) The rigid transformation relating LiDAR and Spheron coordinate frames (red and blue) was estimated by aligning the projections of three calibration targets in the scene. (b) Magnitude of the estimated translational component of the rigid transformation over scenes. The red bar indicates the mean.