Abstract:Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuoustime batch-optimization framework, where the intrinsics of both sensors and the spatial-temporal extrinsics between sensors are calibrated without using calibration infrastructure such as fiducial tags. Compared to discrete-time approaches, the continuoustime formulation has natural… Show more
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