This paper describes a color extension of a 2D laser profile sensor by extracting the corresponding color from a#R##N##R##N#camera image. For these purpose, we developed a routine for an extrinsic calibration between the profile sensor#R##N##R##N#and the camera. Based on the resulting translation and rotation vectors a belonging pixel can be calculated#R##N##R##N#for each profile point. Consequently, the color for each profile point can be extracted from the image. This#R##N##R##N#approach is used to extend the geometric data of a robotic based 3D scanning system by color data.
['Maximilian Wagner', 'Peter Heß', 'Sebastian Reitelshöfer', 'Jörg Franke']
Data Fusion Between a 2D Laser Profile Sensor and a Camera