Parameters Separated Calibration Based on Particle Swarm Optimization for a Camera and a Laser-Rangefinder Information Fusion

Figure 10

The calibration results for 21-group scene in 10th independent experiment.

(a) The 1st scene for experiment

(b) The 2nd scene for experiment

(c) The 3rd scene for experiment

(d) The 4th scene for experiment

(e) The 5th scene for experiment

(f) The 6th scene for experiment

(g) The 7th scene for experiment

(h) The 8th scene for experiment

(i) The 9th scene for experiment

(j) The 10th scene for experiment

(k) The 11th scene for experiment

(l) The 12th scene for experiment

(m) The 13th scene for experiment

(n) The 14th scene for experiment

(o) The 15th scene for experiment

(p) The 16th scene for experiment

(q) The 17th scene for experiment

(r) The 18th scene for experiment

(s) The 19th scene for experiment

(t) The 20th scene for experiment

(u) The 21st scene for experiment