Fig. 2
From: Accurate laser scanner to camera calibration with application to range sensor evaluation
Difference of observed image and the corresponding virtual images for the two evaluated approaches. The difference images (a), (c), (e) and (g) have been calculated with virtual images generated with calibrations from the ICP-based approach. The figures (b), (d), (f) and (h) show overlays which have been calculated with calibrations from the proposed method. For the baseline method, misalignments can be observed in examples (a), (e) and (f). In contrast, no misalignments identified if the proposed method is used for calibration