git clone https://github.com/APRIL-ZJU/lidar_IMU_calib # ndt_omp wstool init wstool merge lidar_IMU_calib/depend_pack.rosinstall wstool update # Pangolin cd lidar_imu_calib_beta ./build_submodules.sh ## build cd ../.. catkin_make source ./devel/setup.bashExamples...
git clone https://github.com/APRIL-ZJU/lidar_IMU_calib # ndt_omp wstool init wstool merge lidar_IMU_calib/depend_pack.rosinstall wstool update # Pangolin cd lidar_imu_calib_beta ./build_submodules.sh ## build cd ../.. catkin_make source ./devel/setup.bashExamples...
the source code for the project and build it.git clone https://github.com/APRIL-ZJU/lidar_IMU_calib#ndt_ompwstool init wstool merge lidar_IMU_calib/depend_pack.rosinstall wstool update#Pangolincdlidar_imu_calib_beta ./build_submodules.sh## buildcd../.. catkin_makesource./devel/setup.bash...
git clone https://github.com/chennuo0125-HIT/lidar_imu_calib.git cd .. catkin_make -DCATKIN_WHITELIST_PACKAGES="ndt_omp;lidar_imu_calib" run step use rosbag tool record imu and lidar data rosbag record /imu /lidar_points config launch file lidar_topic: lidar data topic name imu_topic...
GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion ConstraintsRAL 2024S+TLiDAR-IMU calibration for ground robotGRIL-Calib Contacts If you have any question, feel free to leave an issue or send an email. 😄 ...
开源代码:GitHub - OpenCalib/LiDAR2INS 准确可靠的传感器标定对于在自动驾驶中融合 LiDAR 和惯性测量至关重要。本文提出了一种用于自动驾驶的 3D-LiDAR 和姿态传感器的新型三阶段外部校准方法。第一阶段可以通过点云表面特征快速标定传感器之间的外部参数,从而在很短的时间内将外部参数从较大的初始误差缩小到较小的误...
Breadcrumbs lidar_IMU_calib / package.xmlTop File metadata and controls Code Blame executable file· 88 lines (73 loc) · 3.54 KB Raw <?xml version="1.0"?> <package format="1"> <name>li_calib</name> <version>0.0.0</version> <description>The calibr package</description> <!-- One ...
摘要:随着IMU‑LiDAR融合系统重要性的增加,无目标IMU‑LiDAR外在校准方法越来越受到关注。现有的校准方法需要在所有轴上完全运动的情况下推导校准参数。当IMU和LiDAR安装在地面机器人上且其运动仅限于平面运动时,现有的校准方法可能会表现出性能下降,为了解决这个问题,我们提出GRIL‑Calib:一种新颖的无目标地面机器人...
【摘要】 功能包介绍功能包名称:lidar_imu_calib功能包简介:在基于3D激光雷达开发slam时,我们经常使用imu为匹配算法(icp, ndt)提供先验,所以需要校准lidar和imu之间的变换。对于匹配算法,transfom中的姿态比transform中的位置更重要 , 并且位置通常设置为 0。所以这个功能包只校准激光雷达和 imu 之间转换中的姿态分量...
catkin_init_workspace# Clone the source code for the project and build it.gitclonehttps://github.com/APRIL-ZJU/lidar_IMU_calib# ndt_ompwstool init wstool merge lidar_IMU_calib/depend_pack.rosinstall wstool update# Pangolin./build_submodules.sh## buildcd../.. ...