| Abstract: |  We have developed an application for extrinsic camera calibration from the data acquired by the LIDAR scanner. Since the raw range images from the LIDAR scanner do not possess enough detail, we processed the range images to highlight edges and corners and allow the operator to create correspondences between the world points and the image points. We have also developed a technique for local correction of the correspondences in case the operator makes a slight mistake. The application is implemented as a node in Robot Operating System (ROS). We have performed experiments on a mobile robot intended for urban search and rescue. We experimentally show that the application can be used outside the laboratory to quickly calibrate a new camera in the system or recalibrate an already present camera. That is a big advantage compared to the present tools available in ROS that usually require the use of special calibration patterns and are restricted to the laboratory environment only.
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