# US 2026/0094301 A1 · Extrinsic calibration parameter generating device, system, and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0094301 A1 - Document ID: US20260094301A1 - Status: Published application - Kind: A1 - Application number: 19/178,891 - Filed: 2025-04-15 - Published: 2026-04-02 - Earliest claimed: 2024-04-15 - Assignees: HTC Corporation - Applicants: HTC Corporation - Inventors: Chao-Shuan HUANG - Web page: https://patentgrep.com/patent/US20260094301A1 ## CPC - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/579: from motion - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An extrinsic calibration parameter generating device, system, and method are provided. Each of sensors of the device generates an observation data corresponding to a spatial point. A processor of the device calculates a spatial position of the spatial point indicated by each of the observation data based on the observation data of each of the sensors. The processor compares the spatial position indicated by each of the observation data to determine whether each of the observation data belongs to an outlier value or a normal value. In response to the observation data corresponding to a first sensor belonging to the outlier value, the processor generates an extrinsic calibration parameter corresponding to the first sensor based on the observation data of each of at least one second sensor. ## Claims ### Claim 1 An extrinsic calibration parameter generating device, comprising: a plurality of sensors; and a processor, being electrically connected to the plurality of sensors; wherein the extrinsic calibration parameter generating device is configured to perform operations comprising: generating, by each of the plurality of sensors, an observation data corresponding to a spatial point; calculating, by the processor, a spatial position of the spatial point indicated by each of the observation data based on the observation data of each of the sensors; comparing, by the processor, the spatial position indicated by each of the observation data to determine whether each of the observation data belongs to an outlier value or a normal value; and in response to the observation data corresponding to a first sensor belonging to the outlier value, generating, by the processor, an extrinsic calibration parameter corresponding to the first sensor based on the observation data of each of at least one second sensor, wherein the observation data of each of the at least one second sensor belongs to the normal value. ### Claim 2 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the operation of determining whether each of the observation data belongs to the outlier value or the normal value comprises the following operations: comparing the observation data of the sensors to cluster each of the observation data into a normal cluster or an outlier cluster; and determining whether each of the observation data belongs to the outlier value or the normal value based on the normal cluster or the outlier cluster. ### Claim 3 (depends on 2) The extrinsic calibration parameter generating device of claim 2, wherein the observation data clustered into the normal cluster belong to the normal value, and the observation data clustered into the outlier cluster belong to the outlier value. ### Claim 4 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the sensors comprise a first active depth camera, the first active depth camera comprises a first emitter and a first receiver, and the observation data generated by the first active depth camera comprises a spatial relationship parameter captured by the first emitter and the first receiver. ### Claim 5 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the sensors comprise a second active depth camera, the second active depth camera comprises a second emitter and a second receiver, and the observation data generated by the second active depth camera comprises a structured light pattern and a light coding generated by the second emitter and the second receiver. ### Claim 6 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the sensors comprise at least one sensor pair, and the observation data generated by the at least one sensor pair comprises an image frame captured by the at least one sensor pair. ### Claim 7 (depends on 6) The extrinsic calibration parameter generating device of claim 6, wherein the at least one sensor pair is a stereo camera pair consisting of a plurality of image capturers, and the observation data generated by the stereo camera pair comprise the image frame captured by the image capturers. ### Claim 8 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the operation of calculating the spatial position of the spatial point indicated by each of the observation data comprises the following operations: performing a global optimization operation corresponding to a simultaneous localization and mapping algorithm on the observation data to generate the spatial position corresponding to the spatial point indicated by each of the observation data. ### Claim 9 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the processor further performs the following operations: adjusting at least one of an emitting time, an emitting power, an emitting pattern, or a combination thereof corresponding to the first sensor based on the extrinsic calibration parameter. ### Claim 10 (depends on 1) The extrinsic calibration parameter generating device of claim 1, wherein the processor further performs the following operations: calibrating a positioning information corresponding to the first sensor based on the extrinsic calibration parameter. ### Claim 11 A extrinsic calibration parameter generating method, being adapted for use in an electronic device, wherein the extrinsic calibration parameter generating method comprises: receiving an observation data corresponding to a spatial point from each of a plurality of sensors; calculating a spatial position of the spatial point indicated by each of the observation data based on the observation data of each of the sensors; comparing the spatial position indicated by each of the observation data to determine whether each of the observation data belongs to an outlier value or a normal value; and in response to the observation data corresponding to a first sensor belonging to the outlier value, generating an extrinsic calibration parameter corresponding to the first sensor based on the observation data of each of at least one second sensor, wherein the observation data of each of the at least one second sensor belongs to the normal value. ### Claim 12 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the step of determining whether each of the observation data belongs to the outlier value or the normal value comprises the following steps: comparing the observation data of the sensors to cluster each of the observation data into a normal cluster or an outlier cluster; and determining whether each of the observation data belongs to the outlier value or the normal value based on the normal cluster or the outlier cluster. ### Claim 13 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the sensors comprise a first active depth camera, the first active depth camera comprises a first emitter and a first receiver, and the observation data generated by the first active depth camera comprises a spatial relationship parameter captured by the first emitter and the first receiver. ### Claim 14 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the sensors comprise a second active depth camera, the second active depth camera comprises a second emitter and a second receiver, and the observation data generated by the second active depth camera comprises a structured light pattern and a light coding generated by the second emitter and the second receiver. ### Claim 15 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the sensors comprise at least one sensor pair, and the observation data generated by the at least one sensor pair comprises an image frame captured by the at least one sensor pair. ### Claim 16 (depends on 15) The extrinsic calibration parameter generating method of claim 15, wherein the at least one sensor pair is a stereo camera pair consisting of a plurality of image capturers, and the observation data generated by the stereo camera pair comprise the image frame captured by the image capturers. ### Claim 17 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the step of calculating the spatial position of the spatial point indicated by each of the observation data comprises the following steps: performing a global optimization operation corresponding to a simultaneous localization and mapping algorithm on the observation data to generate the spatial position corresponding to the spatial point indicated by each of the observation data. ### Claim 18 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the extrinsic calibration parameter generating method further comprises the following steps: adjusting at least one of an emitting time, an emitting power, an emitting pattern, or a combination thereof corresponding to the first sensor based on the extrinsic calibration parameter. ### Claim 19 (depends on 11) The extrinsic calibration parameter generating method of claim 11, wherein the first sensor is disposed in a first electronic device, the at least one second sensor is disposed in a second electronic device, and the first electronic device is different from the second electronic device. ### Claim 20 An extrinsic calibration parameter generating system, comprising: a plurality of electronic devices, wherein each of the electronic devices comprises at least one sensor, and each of the at least one sensor generates an observation data corresponding to a spatial point; and a processing device, being communicatively connected to the electronic devices; wherein the extrinsic calibration parameter generating system is configured to perform operations comprising: receiving, by the processing device, the observation data from each of the electronic devices; calculating, by the processing device based on the observation data, a spatial position of the spatial point indicated by each of the observation data; comparing, by the processing device, the spatial position indicated by each of the observation data to determine whether each of the observation data belongs to an outlier value or a normal value; and in response to the observation data corresponding to a first sensor belonging to the outlier value, generating, by the processing device, an extrinsic calibration parameter corresponding to the first sensor based on the observation data of each of at least one second sensor, wherein the observation data of each of the at least one second sensor belongs to the normal value.