| 发明名称 |
DETERMINING EXTRINSIC CALIBRATION PARAMETERS FOR A SENSOR |
| 摘要 |
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 maximises (206) a value of a quality function for the at least one point cloud, and uses (208) the maximised quality function to determine extrinsic calibration parameters for the at least one sensor. |
| 申请公布号 |
US2014240690(A1) |
申请公布日期 |
2014.08.28 |
| 申请号 |
US201214348482 |
申请日期 |
2012.09.27 |
| 申请人 |
Newman Paul Michael;Maddern William Paul;Harrison Alastair Robin;Sheehan Mark Christopher |
发明人 |
Newman Paul Michael;Maddern William Paul;Harrison Alastair Robin;Sheehan Mark Christopher |
| 分类号 |
G01S17/02 |
主分类号 |
G01S17/02 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A method of determining extrinsic calibration parameters for at least one sensor mounted on transportable apparatus, the method including:
receiving data representing pose history of the transportable apparatus; receiving sensor data from at least one sensor mounted on transportable apparatus; generating at least one point cloud datum 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; maximising a value of a quality function for the at least one point cloud; and using the maximised quality function to determine extrinsic calibration parameters for the at least one sensor. |
| 地址 |
Oxfordshire GB |
