Observability-Aware Online Multi-Lidar Extrinsic Calibration
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3262176
Abstract: Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this letter, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle base… read more here.
Keywords: observability aware; extrinsic calibration; calibration; real time ... 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;