LI-Calib is a toolkit for calibrating the 6DoF rigid transformation and the time offset between a 3D LiDAR and an IMU. It's based on continuous-time batch optimization. IMU-based cost and LiDAR point-to-surfel distance are minimized jointly, which renders the calibration problem well-...
Run the calibration:./src/lidar_IMU_calib/calib.shThe options in calib.sh the have the following meaning:bag_path path to the dataset. imu_topic IMU topic. bag_start the relative start time of the rosbag [s]. bag_durr the duration for data association [s]. scan4map the duration for...
Targetless IMU-LiDAR extrinsic calibration methods are gaining significant attention as the importance of the IMU-LiDAR fusion system increases. Notably, existing calibration methods derive calibration parameters under the assumption that the methods require full motion in all axes. When IMU and LiDAR are...
Jiajun Lv, Jinhong Xu, Kewei Hu, Yong Liu, Xingxing Zuo. Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation. IROS 2020. [arxiv] License The code is provided under theGNU General Public License v3 (GPL-3)....
Official implementation of our paper"GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints". ArXiv :https://arxiv.org/abs/2312.14035 IEEE :https://ieeexplore.ieee.org/document/10506583 ...
Jiajun Lv, Jinhong Xu, Kewei Hu, Yong Liu, Xingxing Zuo. Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation. IROS 2020. [arxiv] License Releases No releases published Packages No packages published Languages ...
The target allows the system to accurately determine the relationship between sensors, such as their position and orientation relative to each other. In general, since the number of extracted features and distances can vary based on the characteristics of the sensors, target calibration tends to be...