Abstract: In recent years, the calibration method based on the checkerboard is the most popular and the most practical calibration method for camera and 2-dimensional laser radar, and the most classic one is Zhang's method proposed in 2004. However, the optimization error function used by Zhang is a weak constraint relation, which affects the accuracy and stability of calibration results. Therefore, a multi-constraint optimization error function model is proposed based on the spatial relationship that the laser points should lie not only on the calibration board plane, but also in the calibration board area. Compared with the Zhang's method, the proposed method searches the optimal calibration results in a stricter feasible area. Qualitative and quantitative analyses of simulation results show that the proposed method can improve the accuracy and robustness.