Fig. 4From: AprilTag array-aided extrinsic calibration of camera–laser multi-sensor systemDiagram of dual-camera extrinsic calibration. The downward camera and forward camera are located in tag coordinate systems whose IDs are p and k, respectively. We can compute the extrinsic parameters (R F D , t F D ) by Euclidean transformation matrixes multiplication as formula (2)Back to article page