Extrinsic calibration of rotating laser range finder using scene structure

In this paper, we present an algorithm for the extrinsic calibration method of rotating laser range finder (LRF). LRF is rotated about one axis using a motor therefore it is required to find the transformation between the motor and LRF to register scanned datum into one coordinate. We use calibration structure consisted of two planes to recover the transformation. Initial value of the transformation is set by hand and exhaustive search on the solution space is done. The fitness of the solution is evaluated using normal vector of the plane on the scene.