DETERMINING EXTRINSIC CALIBRATION PARAMETERS FOR A SENSOR

A method of determining extrinsic calibration parameters for at least one sensor (102, 104, 106) mounted on transportable apparatus (100). The method includes receiving (202) data representing pose history of the transportable apparatus and receiving (202) sensor data from at least one sensor mounte...

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Bibliographische Detailangaben
Hauptverfasser:	HARRISON, Alastair Robin, NEWMAN, Paul, Michael, MADDERN, William, Paul, SHEEHAN, Mark Christopher
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING
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Beschreibung
Zusammenfassung:	A method of determining extrinsic calibration parameters for at least one sensor (102, 104, 106) mounted on transportable apparatus (100). The method includes receiving (202) data representing pose history of the transportable apparatus and receiving (202) sensor data from at least one sensor mounted on transportable apparatus. The method generates (204) at least one point cloud data using the sensor data received from the at least one sensor, each point in a said point cloud having a point covariance derived from the pose history data. The method then maximizes (206) a value of a quality function for the at least one point cloud, and uses (208) the maximized quality function to determine extrinsic calibration parameters for the at least one sensor.