arXiv:2205.08701
Extrinsic Calibration of LiDAR, IMU and Camera
Extrinsic Calibration of LiDAR, IMU and Camera
著者: Subodh Mishra, Srikanth Saripalli
分類: cs.RO
原文アブストラクト
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.