A Novel Multifeature Based On-Site Calibration Method for LiDAR-IMU System

• Published in: IEEE transactions on industrial electronics (1982) Vol. 67; no. 11; pp. 9851 - 9861
• Main Authors: Liu, Wanli, Li, Zhixiong, Malekian, Reza, Sotelo, Miguel Angel, Ma, Zhenjun, Li, Weihua
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Calibration; Coordinate transformations; Cylinder liners; Feature extraction; Full information maximum-likelihood estimation; inertial measurement unit (IMU); Inertial platforms; Labor; Laser radar; Lidar; light detection and ranging (LiDAR); Mathematical model; Maximum likelihood estimation; multifeature; on-site calibration; Onsite; Optimization; Parameter estimation; Performance enhancement; Three-dimensional displays; Two dimensional displays

Calibration is an essential prerequisite for the combined application of light detection and ranging (LiDAR) and inertial measurement unit (IMU). However, current LiDAR-IMU calibration usually relies on particular artificial targets or facilities and the intensive labor greatly limits the calibratio...