A method and a system of calibration of a first lidar device and a second lidar device are described. Lidar returns recorded by the first and the second lidar devices as the vehicle moves along a path according to a predetermined path pattern in an environment are received. A subset of pairs of positions of the vehicle is determined. Each pair includes a first position and a second position. A first field of view of the first lidar device when the vehicle is located at the first position overlaps with a second field of view of the second lidar device when the vehicle is located at the second position. For each pair, an estimate of transformation is determined between a first subset of the lidar returns and a second subset of the lidar returns. An extrinsic calibration transformation is determined based on the estimates of the transformations.
Methods and systems for calibration of multiple lidar devices with non-overlapping fields of view
2020-10-13
Patent
Electronic Resource
English
Methods and systems for calibration of multiple lidar devices with non-overlapping fields of view
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