%Aigaion2 BibTeX export from 
%Thursday 13 March 2025 10:35:47 AM

@INPROCEEDINGS{gomez2015calib,
        author = {Gomez-Ojeda, Ruben and Briales, Jesus and Fernández-Moral, Eduardo and Gonzalez-Jimenez, Javier},
         title = {Extrinsic Calibration of a 2D Laser-Rangefinder and a Camera based on Scene Corners},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
          year = {2015},
      location = {Seattle, USA},
  organization = {IEEE},
           doi = {10.1109/ICRA.2015.7139700},
      abstract = {Robots are often equipped with 2D laser-
rangefinders (LRFs) and cameras since they complement well
to each other. In order to correctly combine measurements from
both sensors, it is required to know their relative pose, that is, to
solve their extrinsic calibration. In this paper we present a new
approach to such problem which relies on the observations of
an orthogonal trihedron which is profusely found as corners in
human-made scenarios. Thus, the method does not require any
specific pattern, which turns the calibration process fast and
simpler to perform. The estimated relative pose has proven
to be also very precise since it uses two different types of
constraints, line-to-plane and point-to-plane, as a result of a
richer configuration than previous proposals that relies on plane
or V-shaped patterns. Our approach is validated with synthetic
and real experiments, showing better performance than the
state-of-art methods.},
         pages = {3611--3616}
}