{"data":{"id":"10.1184/r1/6554870","type":"dois","attributes":{"doi":"10.1184/r1/6554870","prefix":"10.1184","suffix":"r1/6554870","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Unnikrishnan, Ranjith","givenName":"Ranjith","familyName":"Unnikrishnan","affiliation":[],"nameIdentifiers":[]},{"name":"Hebert, Martial","givenName":"Martial","familyName":"Hebert","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"Fast Extrinsic Calibration of a Laser Rangefinder to a Camera"}],"publisher":"Carnegie Mellon University","container":{},"publicationYear":2005,"subjects":[{"subject":"Intelligent robotics","schemeUri":"http://www.abs.gov.au/ausstats/abs@.nsf/0/6BB427AB9696C225CA2574180004463E","subjectScheme":"ANZSRC Fields of Research","classificationCode":"460205"}],"contributors":[],"dates":[{"date":"2018-06-29","dateType":"Created"},{"date":"2018-06-29","dateType":"Updated"},{"date":"2018-06-29","dateType":"Issued"}],"language":null,"types":{"ris":"JOUR","bibtex":"article","citeproc":"article-journal","schemaOrg":"ScholarlyArticle","resourceType":"Journal contribution","resourceTypeGeneral":"JournalArticle"},"relatedIdentifiers":[],"relatedItems":[],"sizes":["1419217 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"In Copyright","rightsUri":"http://rightsstatements.org/vocab/InC/1.0/"}],"descriptions":[{"description":"External calibration of a camera to a laser rangefinder is a common pre-requisite\non today’s multi-sensor mobile robot platforms. However, the process of doing so\nis relatively poorly documented and almost always time-consuming. This document\noutlines an easy and portable technique for external calibration of a camera to a laser\nrangefinder. It describes the usage of the Laser-Camera Calibration Toolbox (LCCT),\na Matlab\nR -based graphical user interface that is meant to accompany this document and\nfacilitates the calibration procedure. We also summarize the math behind its development.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://kilthub.cmu.edu/articles/journal_contribution/Fast_Extrinsic_Calibration_of_a_Laser_Rangefinder_to_a_Camera/6554870","contentUrl":null,"metadataVersion":2,"schemaVersion":"http://datacite.org/schema/kernel-4","source":"mds","isActive":true,"state":"findable","reason":null,"viewCount":0,"viewsOverTime":[],"downloadCount":0,"downloadsOverTime":[],"referenceCount":0,"citationCount":0,"citationsOverTime":[],"partCount":0,"partOfCount":0,"versionCount":0,"versionOfCount":0,"created":"2018-06-29T22:29:39.000Z","registered":"2018-06-29T22:29:40.000Z","published":"2005","updated":"2026-03-08T14:27:52.000Z"},"relationships":{"client":{"data":{"id":"cmu.kilthub","type":"clients"}},"provider":{"data":{"id":"cmu","type":"providers"}},"media":{"data":{"id":"10.1184/r1/6554870","type":"media"}},"references":{"data":[]},"citations":{"data":[]},"parts":{"data":[]},"partOf":{"data":[]},"versions":{"data":[]},"versionOf":{"data":[]}}}}