@TechReport{Kubelka-TR-2011-15,
  IS = { zkontrolovano 13 Jan 2012 },
  UPDATE  = { 2011-12-29 },
author =      {Kubelka, Vladim{\'\i}r and Svoboda, Tom{\'a}{\v s}},
title =       {NIFTi Lidar-Camera Calibration},
institution = {Center for Machine Perception, K13133 FEE
               Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2011},
month =       {December},
type =        {Research Report},
number =      {CTU--CMP--2011--15},
issn =        {1213-2365},
pages =       {30},
figures =     {18},
authorship =  {50-50},
psurl       = {[Kubelka-TR-2011-15.pdf]},
project =     {FP7-ICT-247870 NIFTi},
annote =      {The NIFTi robot is equipped -- among others -- with a
  rotating laser scanner and an omnidirectional camera. This paper
  describes a practical approach for mutual calibration of the
  sensors. We make use of few publicly available packages and add few
  utilities for data conversion. A planar checker board pattern is
  shown at several 3D positions to the laser sensor and the camera
  simultaneously. Necessary correspondences between Lidar 3D points
  and images are assigned manually. The procedure yields a complete
  geometric calibration of the camera and transformation between the
  camera and the Lidar coordinate system.},
keywords =    {Lidar, camera, joint calibration, mobile robotics},
}