Patent Document ID: 20150317781
Application ID: 14440294
Patent Status: 0

Claim One:
1. A method of determining extrinsic calibration parameters for at least one pair of sensing devices mounted on transportable apparatus, the method including: obtaining image data representing a plurality of images captured by an image generating sensing device of the pair at a series of poses during motion through an environment of transportable apparatus; obtaining data representing a 3D point cloud based on data produced by a 2D LIDAR sensing device of the pair during the motion through the environment of the transportable apparatus; selecting an image from the image data, the image being captured by the image generating sensing device at a particular said pose; generating a laser reflectance image based on a portion of the 3D point cloud data corresponding to the particular pose of the image generating sensing device; computing a metric indicating a measure of alignment between the selected image and the corresponding laser reflectance image; and using the metric to determine extrinsic calibration parameters for at least one of the sensing devices.