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中文摘要：
针对摄像机与3D激光雷达融合系统的标定问题，提出了一种基于平面标定模版的新方法．整个标定过程分为单传感器独立标定和多传感器联合标定两部分．与以往的基于特征点或者边缘对应的标定方法不同，根据传感器原点到标定平面的距离对应性原理实现了联合标定，解决了在激光雷达距离图像上提取特征点或者边缘时精度较低带来的问题．同时，仅采用同一块平面模板完成了整个标定过程，简单实用．实验结果表明，相比传统标定方法，本方法能够获得更高的精度．
英文摘要：
A novel calibration method employing only a planar calibration board for joint calibration of a camera and a 3D laser range finder was proposed. The calibration process is composed of two successive steps, i.e. calibration of each sensor independently and joint calibration of both sensors later. Different from the traditional methods which find the solution by correspondence of key points or edges, the distance pairs between the sensors＇ original points and the target plane are adopted as the main cues of the calibra- tion. By this, the problem of low accuracy when extracting key points or edges on the laser range images is avoided. Furthermore the whole calibration process can be implemented by using only one planar calibration board, which is simple and practical. Experimental results show that the proposed method can achieve calibration results with higher precision than those of traditional methods.
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