Calibration for Indoor 3D Measurement Using Spherical Camera and Ring Laser

Abstract

In this study, we evaluated 3D measurement in real environments using 3D measurement sensor consisting of a spherical camera and a ring laser proposed by conventional study. However, we cloud not have obtain results that we expected. We consider that the cause of failure in high-precision 3D measurement was that we cloud not calculate accurate geometric relationship between the camera and the laser. Therefore, in this study, we propose a calibration method for this sensor. Using two spherical stereo cameras, we reconstructed the 3D point cloud of laser plane. We conducted plane estimation on the reconstructed point cloud. We proposed a method to determine the geometric relationship between the camera and the laser based on plane estimation.