1. A method of determining extrinsic calibration parameters for at least one sensor mounted on a transportable apparatus, the method including: receiving, by a computer processor, data representing pose history of the transportable apparatus with respect to a global frame; receiving, by the computer processor, sensor data from at least one sensor mounted on the transportable apparatus; generating, by the computer processor, at least one point cloud datum using the sensor data received from the at least one sensor, each point in a said point cloud having a corresponding point covariance derived from the pose history data; maximizing, by the computer processor, a value of a quality function for the at least one point cloud; and determining, by the computer processor, extrinsic calibration parameters for the at least one sensor using the maximized quality function.