Extrinsic Calibration of LiDAR, IMU and Camera
arXiv:2205.08701
Abstract
In this work we present a novel method to jointly calibrate a sensor suite consisting a 3D-LiDAR, Inertial Measurement Unit (IMU) and Camera under an Extended Kalman Filter (EKF) framework. We exploit pairwise constraints between the 3 sensor pairs to perform EKF update and experimentally demonstrate the superior performance obtained with joint calibration as against individual sensor pair calibration.
Workshop on Challenges in Sensor Calibration for Robotics Applications at the 17th INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (IAS-17), ZAGREB, CROATIA