3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments

doi:10.1109/ACCESS.2021.3114618

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 平行智能技术与系统团队

	3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments
	Li, Shuaixin 1; Wang, Li 1; Li, Jiuren 2; Tian, Bin3 ; Chen, Long 4; Li, Guangyun 1
发表期刊	IEEE ACCESS
ISSN	2169-3536
	2021
卷号	9 页码:138803-138816
通讯作者	Li, Guangyun(guangyun_li@163.com)
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.
关键词	Laser radar Calibration Trajectory Optimization Robot sensing systems Estimation Laser noise LiDAR IMU calibration SLAM continuous-time batch optimization octree map
DOI	10.1109/ACCESS.2021.3114618
收录类别	SCI
语种	英语
WOS研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000707434500001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/46186
专题	多模态人工智能系统全国重点实验室_平行智能技术与系统团队
通讯作者	Li, Guangyun
作者单位	1.PLA Informat Engn Univ, Dept Geospatial Informat, Zhengzhou 450001, Peoples R China 2.Waytous Infin Inc, Beijing 100089, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 1000190, Peoples R China 4.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510275, 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.