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Awesome-LiDAR-IMU-calibration Awesome

😎 A current list of LiDAR-IMU calibration method

Introduction

LiDAR and IMU are among the widely used sensors in the field of self-driving cars and robotics. To fuse both sensors and use them for algorithms (such as LiDAR-inertial SLAM), it is essential to obtain the exact extrinsic parameter.

Inspired by Deephome/Awesome-LiDAR-Camera-Calibration, this repository summarizes the LiDAR-IMU calibration methods currently being studied in research fields and related toolboxes.

The figure above is one of the figures in the paper "Target-free Extrinsic Calibration of a 3D-Lidar and an IMU".

Related papers

Target means calibration target.
"S" means spatial information (Transformation matrix) and "T" means temporal information (time offset).

Paper Published Target Key words Code
3D Lidar-IMU Calibration Based on Upsampled Preintegrated Measurements for Motion Distortion Correction ICRA 2018 S+T IMU Preintegration, Plane association -
Error modeling and extrinsic–intrinsic calibration for LiDAR-IMU system based on cone-cylinder features RAS 2019 S Cone-cylinder features, IMU intrinsic parameter, EKF based -
Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation IROS 2020 S+T Continous time trajectory, Surfel map LI-Calib
A Novel Multifeature Based On-Site Calibration Method for LiDAR-IMU System TIE 2020 S Multi-type geometric features, Cone-cylinder features(RAS 2019) extended version -
Motion-based Calibration between Multiple LiDARs and INS with Rigid Body Constraint on Vehicle Platform IV 2020 S Graph structure-based optimization, Multiple LiDAR -
Efficient Multi-sensor Aided Inertial Navigation with Online Calibration ICRA 2021 S+T MSCKF based, Multi-sensor INS, -
Target-free Extrinsic Calibration of a 3D-Lidar and an IMU MFI 2021 S EKF based imu_lidar_calibration
3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments IEEE Access 2021 S Continuous-Time Trajectory, Gaussian process(GP) regression -
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems TRO 2022 S+T LI-Calib(IROS 2020) extension version OA-LICalib
Robust Real-time LiDAR-inertial Initialization IROS 2022 S+T IESKF based, FAST-LIO initialization LI-Init
An Extrinsic Calibration Method of a 3D-LiDAR and a Pose Sensor for Autonomous Driving Arxiv 2022 S LiDAR-INS calibration part of OpenCalib LiDAR2INS
AFLI-Calib: Robust LiDAR-IMU extrinsic self-calibration based on adaptive frame length LiDAR odometry ISPRS 2023 S Continuous-time model, Optimization based AFLI-Calib
GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints RAL 2024 S+T LiDAR-IMU calibration for ground robot GRIL-Calib

Other toolboxes

ToolBox Keywords
OpenCalib(SensorsCalibration) Calibration Toolbox for Autonomous Driving
chennuo0125-HIT/lidar_imu_calib Only calculate extrinsic rotation parameter
ethz-asl/lidar_align Accurate results require highly non-planar motions

Contacts

If you have any question, feel free to leave an issue or send an email. 😄

License: MIT

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😎 A current list of LiDAR-IMU calibration method

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