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Line scanning cameras, which capture only a single line of pixels, have beenincreasingly used in ground based mobile or robotic platforms. In applicationswhere it is advantageous to directly georeference the camera data to worldcoordinates, an accurate estimate of the camera's 6D pose is required. Thispaper focuses on the common case where a mobile platform is equipped with arigidly mounted line scanning camera, whose pose is unknown, and a navigationsystem providing vehicle body pose estimates. We propose a novel method thatestimates the camera's pose relative to the navigation system. The approachinvolves imaging and manually labelling a calibration pattern with distinctlyidentifiable points, triangulating these points from camera and navigationsystem data and reprojecting them in order to compute a likelihood, which ismaximised to estimate the 6D camera pose. Additionally, a Markov Chain MonteCarlo (MCMC) algorithm is used to estimate the uncertainty of the offset.Tested on two different platforms, the method was able to estimate the pose towithin 0.06 m / 1.05$^{\circ}$ and 0.18 m / 2.39$^{\circ}$. We also proposeseveral approaches to displaying and interpreting the 6D results in a humanreadable way.

Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern