Oxford University Innovation Ltd

Mark Christopher Sheehan

Paul Michael Newman

William Paul Maddern

Alastair Robin Harrison

A method of determining extrinsic calibration parameters for at least one sensor () mounted on transportable apparatus (). The method includes receiving () data representing pose history of the transportable apparatus and receiving () sensor data from at least one sensor mounted on transportable apparatus. The method generates () 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 maximizes () a value of a quality function for the at least one point cloud, and uses () the maximized quality function to determine extrinsic calibration parameters for the at least one sensor.

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Oxfordshire, United Kingdom

Mark Christopher Sheehan