Extrinsic Calibration of LiDAR, IMU and Camera
Subodh Mishra, Srikanth Saripalli
TL;DR
This paper introduces a novel joint calibration method for LiDAR, IMU, and camera sensors using an Extended Kalman Filter, demonstrating improved accuracy over individual pair calibrations through experimental validation.
Contribution
The work presents a new EKF-based approach for simultaneous calibration of LiDAR, IMU, and camera sensors, leveraging pairwise constraints for enhanced performance.
Findings
Joint calibration outperforms individual sensor pair calibration
Experimental results show improved accuracy
Method effectively integrates multiple sensors
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.
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Taxonomy
TopicsRobotics and Sensor-Based Localization · Inertial Sensor and Navigation · 3D Surveying and Cultural Heritage