Range cameras and terrestrial laser scanners provide 3D geometric information by directly measuring the rangefrom the sensor to the object. Calibration of the ranging component has not. been studied systematically yet,and this paper provides a first overview. The proposed approaches differ in the object space features used forcalibration, the calibration models themselves, and possibly required environmental conditions. A number ofapproaches are reviewed within this framework and discussed. For terrestrial laser scanners, improvement inaccuracy by a factor up to two is typical, whereas range camera calibration still lacks a proper model, and largesystematic errors typically remain.
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