@string{iccv-bigdata="Proceedings of ICCV Workshop on Big Data in 3D Computer Vision"}
@INPROCEEDINGS{Tamas-Kato2013,
  author = {Levente Tamas and Zoltan Kato},
  title = {Targetless Calibration of a Lidar - Perspective Camera Pair},
  booktitle = iccv-bigdata,
  year = {2013},
  pages = {668--675},
  address = {Sydney, Australia},
  month = dec,
  organization = {IEEE},
  publisher = {IEEE},
  abstract = {A novel method is proposed for the calibration of a camera - 3D lidar
	pair without the use of any special calibration pattern or point
	correspondences. The proposed method has no specific assumption about
	the data source: plain depth information is expected from the lidar
	scan and a simple perspective camera is used for the 2D images. The
	calibration is solved as a 2D-3D registration problem using a minimum
	of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions
	visible in both cameras. The registration is then traced back to
	the solution of a non-linear system of equations which directly provides
	the calibration parameters between the bases of the two sensors.
	The method has been tested on a large set of synthetic lidar-camera
	image pairs as well as on real data acquired in outdoor environment.}
}