Sensor calibration system

A calibration system which determines a relative position and orientation between a vehicle and an attachment position of a first measurement section attached to the vehicle, the calibration system comprising:

• a three-dimensional shape information acquiring section which acquires three-dimensional shape information of the vehicle, a first landmark, and an environment around the first landmark;
• a vehicle sensor landmark position detecting unit which estimates a position of the first landmark from the three-dimensional shape information;
• a vehicle sensor position detecting unit which obtains an attachment position of the first measurement section to the vehicle from the three-dimensional shape information;
• a vehicle position detecting unit which estimates a position of the vehicle from the three-dimensional shape information;
• a vehicle landmark relative position estimating unit which obtains a relative position between the position of the vehicle and an installation position of the first measurement section;
• a first landmark detecting unit which detects a position of the first landmark from the three-dimensional shape information;
• a landmark associating unit which obtains a correspondence relation between the position of the first landmark detected by the first landmark detecting unit and an attachment position of the first landmark on the vehicle estimated by the vehicle landmark relative position estimating unit;
• and
• a vehicle sensor relative orientation estimating unit which estimates a relative position and orientation between the vehicle and the first measurement section, based on the information of the vehicle landmark relative position estimating unit and the landmark associating unit.