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- W3130081760 abstract "Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D LiDAR and the Inertial Measurement Unit (IMU). % Regarding the high data capture rate for LiDAR and IMU sensors, LI-Calib adopts a continuous-time trajectory formulation based on B-Spline, which is more suitable for fusing high-rate or asynchronous measurements than discrete-time based approaches. % Additionally, LI-Calib decomposes the space into cells and identifies the planar segments for data association, which renders the calibration problem well-constrained in usual scenarios without any artificial targets. We validate the proposed calibration approach on both simulated and real-world experiments. The results demonstrate the high accuracy and good repeatability of the proposed method in common human-made scenarios. To benefit the research community, we open-source our code at url{https://github.com/APRIL-ZJU/lidar_IMU_calib}" @default.
- W3130081760 created "2021-03-01" @default.
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- W3130081760 date "2020-10-24" @default.
- W3130081760 modified "2023-10-06" @default.
- W3130081760 title "Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation" @default.
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- W3130081760 doi "https://doi.org/10.1109/iros45743.2020.9341405" @default.
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