Methods and systems for calibration of multiple lidar devices with non-overlapping fields of view

A computing device for calibration of a first lidar device and a second lidar device from a plurality of lidar devices that are mounted on a vehicle, the computing device comprising:

• a non-transitory computer-readable storage medium to store instructions;
• and
• a processor coupled with the non-transitory computer-readable storage medium to process the stored instructions to perform the following operations of:
• determining a subset of pairs of positions of the vehicle as the vehicle moves in an environment along a path according to a predetermined path pattern,
• wherein each pair from the subset of pairs of positions includes a first position and a second position of the vehicle, and wherein a first field of view of the first lidar device when the vehicle is located at the first position at a first time 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, and
• determining, based on the subset of pairs of positions, an extrinsic calibration transformation that transforms a position of the second lidar device on the vehicle into a calibrated position of the second lidar device that allows to obtain a consistent view of the world between the first lidar device and the second lidar device.