Fig. 10From: AprilTag array-aided extrinsic calibration of camera–laser multi-sensor systemTwo sets of trials of the dual-camera extrinsic calibration. The results are refined by global optimization. a The estimated dual-camera positions. Each dotted line connects forward camera with downward camera at the same time. b The dual-camera distances estimation errors. The green and blue points are corresponding to the two sets of trials, respectively, in a Back to article page