Fig. 1. (a) Laser range finder and camera calibration diagram, (b) Angle between laser and camera axes

Fig. 2. Schematic diagram of method 1

Fig. 3. Schematic diagram of method 2

Fig. 4. Laser spot falls on the chessboard in different postures

Fig. 5. Invisible laser spot falls on the chessboard in different postures

Fig. 6. Comparison of the actual position and calculated position of the laser spot. (a) Red rectangle is the position calculated by method 1; (b) Blue rectangle is the position calculated by method 2

Fig. 7. Position error of different number of checkerboard postures in methods 1 and 2

Fig. 8. Position error distribution for method 1 (top) and method 2 (bottom)

Fig. 9. Coordinate error of the number of poses for method 1 (black) and method 2 (red)