Fig. 1. Structural diagram of the system

Fig. 2. Positional relationship between camera and laser. (a) Physical model; (b) perspective model

Fig. 3. Graphs of rotation transformation. (a) Cameral coordinate system and world coordinate system with different origins; (b) camera coordinate system rotated β

Fig. 4. Error graphs at L=200 mm and tan α=5. (a) dxc; (b) dyc; (c) dzc

Fig. 5. Error graphs at L=400 mm and tan α=2.5. (a) dxc; (b) dyc; (c) dzc

Fig. 6. Error graphs at L=200 mm, tan α=5 and x>0. (a) dxc; (b) dyc; (c) dzc

Fig. 7. Error graphs at L=500 mm and tan α=3. (a) dxc; (b) dyc; (c) dzc

Fig. 8. Error graphs at L=1000 mm and tan α=1.5. (a) dxc; (b) dyc; (c) dzc

Fig. 9. Schematic of scene reconstruction. (a) Original scene graph; (b) front view of reconstructed scene; (c) left view of reconstructed scene; (d) top view of reconstructed scene

Fig. 10. Graph of point cloud projection