Observability-aware intrinsic and extrinsic calibration of LiDAR-IMU systems
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial
measurements, which are usually available in robotic applications. In this article, we …
measurements, which are usually available in robotic applications. In this article, we …
Robust real-time lidar-inertial initialization
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and
extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are …
extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are …
Accuracy-and Simplicity-Oriented Self-Calibration Approach for In-Vehicle GNSS/INS/Vision System With Observability Analysis
With significant advances in manufacturing technology, multiple sensors such as global
navigation satellite system (GNSS) devices, inertial measurement units (IMU) and cameras …
navigation satellite system (GNSS) devices, inertial measurement units (IMU) and cameras …
[HTML][HTML] Solid-state-lidar-inertial-visual odometry and mapping via quadratic motion model and reflectivity information
T Yin, J Yao, Y Lu, C Na - Electronics, 2023 - mdpi.com
This paper proposes a solid-state-LiDAR-inertial-visual fusion framework containing two
subsystems: the solid-state-LiDAR-inertial odometry (SSLIO) subsystem and the visual …
subsystems: the solid-state-LiDAR-inertial odometry (SSLIO) subsystem and the visual …
Targetless extrinsic calibration of lidar–imu system using raw gnss observations for vehicle applications
Nowadays, the low-cost micro electro mechanical systems (MEMSs)-based inertial
measurement units (IMU) and light detection and ranging (LiDAR) are commercially …
measurement units (IMU) and light detection and ranging (LiDAR) are commercially …
High-Accuracy Patternless Calibration of Multiple 3-D LiDARs for Autonomous Vehicles
This article proposes a new method for estimating the extrinsic calibration parameters
between any pair of multibeam LiDAR sensors on a vehicle. Unlike many state-of-the-art …
between any pair of multibeam LiDAR sensors on a vehicle. Unlike many state-of-the-art …
Online LiDAR-to-vehicle alignment using lane markings and traffic signs
Highly automated vehicles with multiple environmental sensors require all the sensors
aligned online to the same coordinate to ensure driving performance and improve customer …
aligned online to the same coordinate to ensure driving performance and improve customer …
MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments
SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare
robotics, and restaurant delivery. These scenes come with various challenges, including …
robotics, and restaurant delivery. These scenes come with various challenges, including …
[HTML][HTML] OMC-SLIO: online multiple calibrations spinning LiDAR inertial odometry
S Wang, H Zhang, G Wang - Sensors, 2022 - mdpi.com
Light detection and ranging (LiDAR) is often combined with an inertial measurement unit
(IMU) to get the LiDAR inertial odometry (LIO) for robot localization and mapping. In order to …
(IMU) to get the LiDAR inertial odometry (LIO) for robot localization and mapping. In order to …
Automatic one-shot LiDAR alignment inspection system using NIR camera
HS Song, YK Kim - IEEE Sensors Journal, 2023 - ieeexplore.ieee.org
In this study, we propose an accurate automatic light detection and ranging (LiDAR)
alignment inspection system designed for manufacturing environments. The proposed …
alignment inspection system designed for manufacturing environments. The proposed …