Calibration of Two 3D Sensors with Perpendicular Scanning Directions by using a Piece of Paper

It is difficult to find the 3D transformation relationship between two 3D sensors when the scanning directions of the two sensors has very large angle, for example 90 degrees or more. In this paper, we propose a very simple and efficient calibration method to get 3D transformation between two 3D sensors using a piece of white-colored paper. A piece of white-colored paper is folded in a quadrangular pyramid shape. The paper calibration object is placed on the transparent acryl board to get the shape of the object from two 3D sensors whose scanning direction is about 90 degree. The performance of the proposed calibration method is verified through 3D model reconstruction experiments. The calibration error between two sensors is less than 0.5 mm.