Problem
Research questions and friction points this paper is trying to address.
LiDAR-IMU calibration
non-flat environments
ground vehicles
degenerate planar motion
tilted surface
Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
🤖 AI Summary
本文提出了一种新的方法，扩展了无目标LiDAR-IMU校准到倾斜表面的应用，解决了地面上车辆在非平坦环境下的校准问题。
📝 Abstract
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration typically necessitates full exci- tation of the sensor rig, a requirement that is not fulfilled by ground vehicles in normal operation. To address the degenerate planar motion, state-of-the-art methods propose residuals that assume the colinearity of the gravity and physical surface normal vectors, restricting usage to cases where the ground is assumed flat. This paper proposes ground-plane residuals that do not require this assumption, and are applicable for planar motion on a tilted surface. Results are demonstrated on a dataset collected from a Husky ground vehicle, on the M2DGR dataset, as well as on an offroad vehicle dataset. Repeatability is shown to be improved both in tilted and flat-ground scenarios, with strong improvement demonstrated for the tilted case. The implementation and experiments are open-sourced at https://github.com/vkorotkine/licalib_tilted_ground.
Innovation
Methods, ideas, or system contributions that make the work stand out.
LiDAR-IMU Calibration
Tilted Surfaces
Continuous-Time Framework
Ground Vehicles
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