Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap

. 2017 Oct 14;17(10):2346. doi: 10.3390/s17102346

Algorithm 1 Perform calibration of two sensors

1:
Compute $^{C} A_{W, i}$ for each pose i.
2:
Compute $^{R F} B_{F, i}$ for each pose i.
3:
Compute solution to Equation (7) using 12 parameters, using zeros as initial solutions for all parameters. This solution is $^{W} {\hat{X}}_{F}$ and $^{C} {\hat{Z}}_{R F}$ .
4:
Manually measure the $d_{p a t t e r n}$ distance.
5:
Set the y translational component of $^{W} {\hat{X}}_{F}$ to $- d_{p a t t e r n}$ as in Equation (10).
6:
Compute $^{W} {\hat{\hat{X}}}_{F}$ and $^{C} {\hat{\hat{Z}}}_{R F}$ , which are the approximate solution to Equation (11) using 11 parameters, where $^{W} {\hat{X}}_{F}$ and $^{C} {\hat{Z}}_{R F}$ (from line 3) serve as the initial solution.