This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Research on Automatic Joint Calibration Method of Multi 3D-LIDARs and Inertial Measurement Unit
Journal Article
2021-01-0070
ISSN: 2641-9645, e-ISSN: 2641-9645
Sector:
Topic:
Event:
SAE WCX Digital Summit
Citation:
Zhang, J., He, R., Wu, J., Li, S. et al., "Research on Automatic Joint Calibration Method of Multi 3D-LIDARs and Inertial Measurement Unit," SAE Int. J. Adv. & Curr. Prac. in Mobility 3(4):1476-1486, 2021, https://doi.org/10.4271/2021-01-0070.
Language:
English
References
- Le Gentil , C. , Vidal-Calleja , T. and Huang , S. 3D LIDAR-IMU Calibration Based on Upsampled Preintegrated Measurements for Motion Distortion Correction 2018 IEEE International Conference on Robotics and Automation (ICRA) Brisbane, QLD 2018 2149 2155 10.1109/ICRA.2018.8460179
- Le Gentil , C. , Vidal-Calleja , T. and Huang , S. IN2LAAMA: Inertial LIDAR Localization Autocalibration and Mapping IEEE Tr-ansactions on Robotics 10.1109/TRO.2020.3018641
- Ceriani , S. , Sánchez , C. , Taddei , P. , Wolfart , E. and Sequeira , V. Pose Interpolation SLAM for Large Maps using Moving 3D Sensors 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Hamburg 2015 750 757 10.1109/IROS.2015.7353456
- Lyu , J. , Xu , J. , Zuo , X. , and Liu , Y. An Efficient LIDAR-IMU Calibration Method Based on Continuous-Time Trajectory IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications Macau, China Nov. 2019
- Neuhaus , F. , Koß , T. , Kohnen , R. , and Paulus , D. Mc2slam: Real-Time Inertial LIDAR Odometry using Two-Scan Motion Compensation German Conference on Pattern Recognition Springer 2018 60 72
- Lv , J. , Xu , J. , Hu , K. , Liu , Y. , and Zuo , X. Targetless Calibration of LIDAR-IMU System Based on Continuous-Time Batch Estimation arXiv e-prints 2020
- Geiger , A. , Lenz , P. , Stiller , C. , and Urtasun , R. Vision Meets Robotics: The KITTI Dataset The International Journal of Robotics Research 32 11 1231 1237 2013
- Horaud , R. and Dornaika , F. Hand-Eye Calibration The International Journal of Robotics Research 14 3 195 210 1995
- Ye , H. , Chen , Y. and Liu , M. Tightly Coupled 3D LIDAR Inertial Odometry and Mapping 2019 International Conference on Robotics and Automation (ICRA) Montreal, QC, Canada 2019 3144 3150 10.1109/ICRA.2019.8793511
- Pusztai , Z. , Eichhardt , I. , and Hajder , L. Accurate Calibration of Multi-LIDAR-Multi-Camera Systems Sensors 18 7 2139 2018
- Rusu , R.B. , Blodow , N. and Beetz , M. Fast Point Feature Histograms (FPFH) for 3D Registration 2009 IEEE International Conference on Robotics and Automation Kobe 2009 3212 3217 10.1109/ROBOT.2009.5152473
- Jun , L. , Wei , L. , Donglai , D. and Qiang , S. Point Cloud Registration Algorithm based on NDT with Variable Size Voxel 2015 34th Chinese Control Conference (CCC) Hangzhou 2015 3707 3712 10.1109/ChiCC.2015.7260213
- Besl , P.J. and McKay , N.D. A Method for Registration of 3D Shapes IEEE Transactions on Pattern Analysis and Machine Intelligence 14 2 239 256 1992
- Censi , A. An ICP Variant Using a Point-To-Line Metric 7
- Low , K.-L. Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration 3
- Segal , V.A. , Haehnel , D. , and Thrun , S. Generalized-ICP Generalized-ICP 2009
- Qin , T. , Li , P. , and Shen , S. VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator IEEE Transactions on Robotics 34 4 1004 1020 Aug. 2018 10.1109/TRO.2018.2853729
- El-Mowafy , A. and Kubo , N. A new Approach for Positioning Integrity Monitoring of Intelligent Transport Systems Using Integrated RTK-GNSS IMU and Vehicle Odometer, IET Intelligent Transport Systems 2018 10.1049/ietits.2018.0106www.ietdl.org
- Park , F.C. and Martin , B.J. Robot Sensor Calibration: Solving AX=XB on the Euclidean Group IEEE Transactions on Robotics and Automation 10 5 717 721 Oct. 1994 10.1109/70.326576
- Gablonsky , J.M. and Kelley , C.T. A Locally-Biased form of the DIRECT Algorithm J. Global Optimization 21 1 27 37 2001
- Powell , M.J.D. A Direct Search Optimization Method that Models the Objective and Constraint Functions by Linear Interpolation Advances in Optimization and Numerical Analysis Gomez S. and Hennart J.-P. Kluwer Academic Dordrecht 1994 51 67