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

A method and system for calibration of a first lidar device and a second lidar device with non-overlapping fields of view. Pairs of vehicle positions along a predetermined path pattern are determined such that the field of view of the first lidar at one position overlaps the field of view of the second lidar at another position, and the calibration is computed from those pairs.