3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments
文献类型：期刊论文
| 作者 | Li, Shuaixin4; Wang, Li4; Li, Jiuren3; Tian, Bin2 ; Chen, Long1; Li, Guangyun4
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| 刊名 | IEEE ACCESS
 |
| 出版日期 | 2021 |
| 卷号 | 9页码:138803-138816 |
| 关键词 | Laser radar Calibration Trajectory Optimization Robot sensing systems Estimation Laser noise LiDAR IMU calibration SLAM continuous-time batch optimization octree map |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2021.3114618 |
| 通讯作者 | Li, Guangyun(guangyun_li@163.com) |
| 英文摘要 | Sensor calibration is a fundamental step for improving the performance in sensor fusion, the aim of which is to spatially and temporally register sensors with respect to each other. This paper presents a high-accuracy autocalibration method to estimate extrinsic parameters between LiDAR and an IMU. LiDAR/IMU calibration is a challenging task since the raw measurements are distorted, biased, noisy, and asynchronous. Our calibration approach adopts continuous-time trajectory estimation wherein the IMU trajectory is modeled by Gaussian process(GP) regression with respect to the independent sampling timestamps. Accordingly, the distorted and delayed LiDAR points sampled at discrete timestamps can be analytically modeled in on-manifold batch optimization. To efficiently and accurately associate laser points with stable environmental objects, the method is carried out in known environments with a point map that is segmented as structured planes and managed by a specially designed octree map. We thoroughly investigated factors relevant to the calibration accuracy and evaluated the performance of the proposed method using both simulated and real-world datasets. The results demonstrate that the accuracy and robustness of our calibration approach are sufficient for most applications. |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000707434500001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46185]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
| 通讯作者 | Li, Guangyun |
| 作者单位 | 1.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510275, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 1000190, Peoples R China 3.Waytous Infin Inc, Beijing 100089, Peoples R China 4.PLA Informat Engn Univ, Dept Geospatial Informat, Zhengzhou 450001, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Shuaixin,Wang, Li,Li, Jiuren,et al. 3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments[J]. IEEE ACCESS,2021,9:138803-138816. |
| APA | Li, Shuaixin,Wang, Li,Li, Jiuren,Tian, Bin,Chen, Long,&Li, Guangyun.(2021).3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments.IEEE ACCESS,9,138803-138816. |
| MLA | Li, Shuaixin,et al."3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments".IEEE ACCESS 9(2021):138803-138816. |
入库方式： OAI收割
来源：自动化研究所
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