The invention discloses a calibrating method for two-dimensional
laser and a camera without overlapped viewing fields. A calibrating
system comprises a two-dimensional
laser scanner, the camera, a
plane mirror and the like. The calibrating method includes calibrating intrinsic parameters of the camera by the aid of the traditional chessboard table via a
pinhole camera model; reasonably configuring the
laser scanner, the camera and the
plane mirror, adhering the black and white chessboard table on the
plane mirror, locating the chessboard table within the range of a viewing field of the camera and determining a
transformation matrix between a coordinate
system of the chessboard and a coordinate
system of the camera; determining a transformation relation between the coordinate system of the chessboard and a coordinate system of a
camera image reflected in the mirror according to a symmetric relation of mirror surface images so as to acquire a transformation relation between the actual camera and the
camera image reflected in the mirror; performing observation at selected sufficient frequency by changing the position and gestures of a black triangular calibrating plate to acquire sufficient observation samples, estimating by a Gauss-Newton iterative process to acquire a
transformation matrix between the coordinate system of the
camera image and the two-dimensional laser
scanner; and acquiring a rotation and translation
transformation matrix between the coordinate system of the camera and a coordinate system of the two-dimensional laser scanner via relations between positions and gestures of the camera and the camera image and relations between positions and gestures of the camera image and the two-dimensional laser scanner.