Estimation of Intrinsic and Extrinsic Parameters for Hybrid Measuring System with 3D Laser Scanner and Digital Camera

摘要

The 3D laser scanner has advantage of acquiring the accurate 3D geometric information of the surrounding scene rapidly and the color camera could capture the high-resolution texture information of the scene flexibility. Nowadays the hybrid measuring system with two sensors is used in many current and future applications such as cultural heritage, virtual reality, and civil engineering and so on. Since the two sensors work with different coordinate systems, we should adjust one to each other in order to fuse the different data sets and effectively build realistic 3D models. In the paper, we present a method to determine the rigid transformation between the two sensors. The main idea is to calibrate the digital camera and the 3D laser scanner, that is, the camera’s intrinsic parameters and the extrinsic parameters must be estimated.