3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3114618
Abstract: Sensor calibration is a fundamental step for improving the performance in sensor fusion, the aim of which is to spatially and temporally register sensors with respect to each other. This paper presents a high-accuracy autocalibration… read more here.
Keywords: calibration; time trajectory; lidar imu; continuous time ... See more keywords
3D Mapping for a Large Crane Using Rotating 2D-Lidar and IMU Attached to the Crane Boom
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3250248
Abstract: This paper describes a novel method for large-scale 3D mapping for construction cranes with an arbitrary motion of the sensor system (2D lidar and IMU) attached to the crane boom. A heavy lidar with a… read more here.
Keywords: crane; attached crane; crane boom; lidar imu ... See more keywords
LILO: A Novel Lidar–IMU SLAM System With Loop Optimization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2021.3135234
Abstract: Light detection and ranging (Lidar) has become the core device in a simultaneous localization and mapping system, which has attracted much attention in recent years. However, the point clouds acquired by Lidar are sparse and… read more here.
Keywords: system; loop optimization; system loop; lidar imu ... See more keywords
Targetless Extrinsic Calibration of LiDAR–IMU System Using Raw GNSS Observations for Vehicle Applications
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2023.3267527
Abstract: Nowadays, the low-cost micro electro mechanical systems (MEMSs)-based inertial measurement units (IMU) and light detection and ranging (LiDAR) are commercially available in vehicle systems and are usually integrated to achieve robust ego-motion estimation due to… read more here.
Keywords: gnss; calibration; vehicle; lidar imu ... See more keywords
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3174476
Abstract: Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this article, we propose a novel LiDAR-IMU calibration method within the continuous-time batch-optimization framework,… read more here.
Keywords: lidar imu; calibration; observability aware;