Information Driven Self-Calibration for Lidar-Inertial Systems
Mitchell Usayiwevu,Cedric Le Gentil,Jasprabhjit Mehami,Chanyeol Yoo,Robert Fitch,Teresa Vidal-Calleja,Mitchell Usayiwevu,Cedric Le Gentil,Jasprabhjit Mehami,Chanyeol Yoo,Robert Fitch,Teresa Vidal-Calleja
Multi-modal estimation systems have the advantage of increased accuracy and robustness. To achieve accurate sensor fusion with these types of systems, a reliable extrinsic calibration between each sensor pair is critical. This paper presents a novel self-calibration framework for lidar-inertial systems. The key idea of this work is to use an informative path planner to find the admissible path tha...
