Patent Document ID: 8639021
Application ID: 12926744
Patent Status: 1

Claim One:
1. An apparatus, including one or more processing devices, the apparatus comprising: a plane extractor to extract, using at least one of the one or more processing devices, at least one plane from first data obtained by a first sensor; a first feature point extractor to extract, using at least one of the one or more processing devices, a first feature point from the first data based on the at least one plane; a second feature point extractor to project, using at least one of the one or more processing devices, the first feature point onto second data obtained by a second sensor and to extract a second feature point corresponding to the first feature point from a part of the second data onto which the first feature point is projected; and a transformation parameter calculator to calculate, using at least one of the one or more processing devices, a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points.