Influence of Intrinsic Parameters over Extrinsic Calibration between a Multi-Layer Lidar and a Camera

In this paper, we present an extensive study about the influence and the behavior of the intrinsic camera calibration imprecisions and their propagation into the extrinsic calibration between a camera and a multi-layer lidar. Usually, the extrinsic calibration process involves the pose estimation of a reference object in the Cartesian frame of each sensor. From this fact, it is necessary to know the camera intrinsic parameters for estimating the position of an object on an image. Therefore, the extrinsic calibration process is directly dependent of the intrinsic camera parameters. By using different projective camera models, we estimate the influence with respect to the computation of the extrinsic parameters.