A method and a system of calibration of a first lidar device and a second lidar device are described. A subset of pairs of positions of a vehicle as the vehicle moves along a path according to a predetermined path pattern are determined. Each pair from the subset of pairs includes a first position and a second position of the vehicle. 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 at a second time. Based on the subset of pairs, an extrinsic calibration transformation that transforms a position of the second lidar device into a calibrated position that allows to obtain a consistent view of the world between the first and the second lidar devices is determined.
METHODS AND SYSTEMS FOR CALIBRATION OF MULTIPLE LIDAR DEVICES WITH NON-OVERLAPPING FIELDS OF VIEW
2021-07-15
Patent
Electronic Resource
English
Methods and systems for calibration of multiple lidar devices with non-overlapping fields of view
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