Calibration between a central catadioptric camera and a laser range finder for robotic applications

This paper presents several methods for estimating the relative position of a central catadioptric camera (including perspective cameras) and a laser range finder in order to obtain depth information in the panoramic image. The problem is analysed from a robotic perspective and according to the available information (visible or invisible laser beam, partial calibration, drift of laser data,...). The feasibility of the calibration is also discussed. The feature extraction process and real data are presented