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 |
WO2013045927(A1) |
申请公布日期 |
2013.04.04 |
申请号 |
WO2012GB52393 |
申请日期 |
2012.09.27 |
申请人 |
THE CHANCELLOR MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD |
发明人 |
NEWMAN, PAUL, MICHAEL;MADDERN, WILLIAM, PAUL;HARRISON, ALASTAIR ROBIN |
分类号 |
G01S7/497;G01S7/48;G01S17/87;G01S17/89;G06T7/00 |
主分类号 |
G01S7/497 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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