Camera and Laser Scanner Calibration with Imprecise

This paper addresses the calibration of a robotic 3-0 vision system. The vision system consists of two cam- eras and a laser scanner each afixed with reposition- able mounts on the ceiling above a robotic testbed. The purpose is to gather global information about the robot workspace. Consequently, the laser scanner and each camera has a large angle of view and must provide ac- curate 3-D information over a range from 0.5 m to 2.5 meters. In this application, the manufacturing of a high precision calibration target is impractical, and so the calibration data points lack the precision com- mon in many calibration processes. This paper presents methods to determine useful camera and laser scanner calibrations in spite of imprecise calibration points