Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods.

中文翻译：

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基于三面体的多个二维激光测距仪的外部校准。

多个二维激光测距仪（LRF）已应用于许多应用中，例如移动机器人，自动驾驶汽车和三维重建。LRF之间的外部校准是执行数据融合和实际应用的第一步。在本文中，我们提出了一种基于三个相互垂直的平面组成的角点来校准LRF的简单方法。与需要特殊图案或其他传感器协助的其他方法相比，此方法所需的三面角在日常环境中很常见。在实践中，我们可以调整LRF的位置以观察拐角，直到激光扫描平面与拐角的三个平面相交为止。然后，我们形成了一个“三点透视”问题，以解决每个LRF在公共角坐标系下的位置和方向。