Matching between telemetric measures and images for mobile robotics

Mobile robotics often uses both cameras and range finders for applications like environment perception. In this paper, we propose a method to calibrate such sensors to be able to match their respective informations. To do that, we present to the camera and to the rangefinder a test card in several different positions. Once we know the position of this test card in both reference frames of the camera and the rangefinder, we are able to determine the position and orientation of the rangefinder wrt. the camera. Then, we project some laser points from the rangefinder to the image plane of the camera to determine the system precision.