Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
Jiajun Lv,Jinhong Xu,Kewei Hu,Yong Liu,Xingxing Zuo,Jiajun Lv,Jinhong Xu,Kewei Hu,Yong Liu,Xingxing Zuo
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 formulat...
