Joint calibration of a camera triplet and a laser rangefinder

This paper studies the calibration of a multi-sensor capture device for the acquisition of image-based scene representations. It is composed of cameras and a laser rangefinder. We use a plane based approach to calibrate the compound system, determining both intrinsic and extrinsic parameters. The novelty of our approach is that the cameras and the scanner are treated jointly. We have tested our method both in simulations and on real data and observe very good calibration results.