LiDAR-IMU Time Delay Calibration Based on Iterative Closest...
Similarly, we can conveniently compute the LiDAR measured orientation relative to the {W} frame. The measurement relationship between the {I}, {L} and {W} frame can be computed as: I0 I ρ(t) = I0 W ρ· W L ρ(t + τ) · L I ρ (23) where I0 W ...