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.
@article{arxiv.2205.08701,
title = {Extrinsic Calibration of LiDAR, IMU and Camera},
author = {Subodh Mishra and Srikanth Saripalli},
journal= {arXiv preprint arXiv:2205.08701},
year = {2022}
}
Comments
Workshop on Challenges in Sensor Calibration for Robotics Applications at the 17th INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (IAS-17), ZAGREB, CROATIA