This paper presents an approach of extrinsic calibration between a camera with fisheye lens and an invisible single-planar laser range finder (LRF). The proposed approach requires LRF and camera to observe a chessboard moved in their field of view. Through checking the changment of LRF measurements, a set of points located in the laser beams plane is detected. These detected points are then used to estimate the equation of the plane of the laser beams in the camera coordinate system. Finally, two geometrical constraints based on the equation of the plane and the set of points are constructed to estimate the extrinsic parameters between the fisheye camera and the LRF. According to simulation results, we show that the proposed approach permits to improve the results (when compared with the approach proposed in paper [1]). At last, real data experiments are carried out and results are presented.
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