A novel method for extrinsic parameters estimation between a single-line scan LiDAR and a camera

This paper presents a novel method for extrinsic parameters estimation of a single line scan LiDAR and a camera. Using a checkerboard, the calibration setup is simple and practical. Particularly, the proposed calibration method is based on resolving geometry of the checkerboard that visible to the camera and the LiDAR. The calibration setup geometry is described by planes, lines and points. Our novelty is a new hypothesis of the geometry which is the orthogonal distances between LiDAR points and the line from the intersection between the checkerboard and LiDAR scan plane. To evaluate the performance of the proposed method, we compared our proposed method with the state of the art method i.e. Zhang and Pless [1]. The experimental results showed that the proposed method yielded better results.