Calibration of a Camera and a 3D Laser Range Finder

The user selects the correspondences between the laser image and the camera image and calibration is done using PnP algorithm. In order to select features from the laser image, the laser depth map is transformed into a new image (Bearing Angle image) where each pixel is proportional to the bearing angle of the corresponding scanned point. See paper on my publication list. See also my publication: http://asl.epfl.ch/~scaramuz/research/Davide_Scaramuzza_files/publications/pdf/IROS07_scaramuzza.pdf