1. 3D Lidar-IMU Calibration based on Upsample Preintegrated Measurements for Motion Distortion Correction
Cedric Le Gentil, Teresa Vidal-Calleja and Shoudong Huang
Centre for Autonomous Systems,
University of Technology Sydney, Australia
Rc, pc ?
Lidar
A novel extrinsic calibration approach for a 3D Lidar and a IMU is formulated as a Maximum Likelihood Estimation
It tackles Lidar motion distortion using Upsampled Preintegrated IMU readings
On-manifold optimization is used to simultaneously calibrate and estimate IMU poses, velocities, biases and time-shift
Point-to-plane distances between reprojected 3D points and a set target planes are minimized
IMU