TY - GEN
T1 - 3D LiDAR-GPS/IMU calibration based on hand-eye calibration model for unmanned vehicle
AU - Chen, Chen
AU - Xiong, Guangming
AU - Zhang, Zhehua
AU - Gong, Jianwei
AU - Qi, Jianyong
AU - Wang, Chao Ran
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/27
Y1 - 2020/11/27
N2 - For the unmanned vehicle, multi-line LiDAR (Light Detection and Ranging) and GPS/IMU are often used in conjunction for SLAM or the production of high-precision maps. To improve the accuracy of navigation as well as map building, the extrinsic parameters calibration of LiDAR and GPS/IMU is often required. In response to the problem of insufficient conditions in the calibration of LiDAR and GPS/IMU for unmanned vehicle, this paper proposes a decoupling method, grouping the extrinsic parameters for calibration, and finally merges the point clouds with the pose obtained by the GPS/IMU before and after calibration to get environment reconstruction results. With the reconstruction results before and after calibration, it is verified that the method proposed is effective.
AB - For the unmanned vehicle, multi-line LiDAR (Light Detection and Ranging) and GPS/IMU are often used in conjunction for SLAM or the production of high-precision maps. To improve the accuracy of navigation as well as map building, the extrinsic parameters calibration of LiDAR and GPS/IMU is often required. In response to the problem of insufficient conditions in the calibration of LiDAR and GPS/IMU for unmanned vehicle, this paper proposes a decoupling method, grouping the extrinsic parameters for calibration, and finally merges the point clouds with the pose obtained by the GPS/IMU before and after calibration to get environment reconstruction results. With the reconstruction results before and after calibration, it is verified that the method proposed is effective.
KW - Distortion correction
KW - LiDAR-GPS/IMU joint calibration
KW - Multi-sensor fusion
UR - http://www.scopus.com/inward/record.url?scp=85098948659&partnerID=8YFLogxK
U2 - 10.1109/ICUS50048.2020.9274947
DO - 10.1109/ICUS50048.2020.9274947
M3 - Conference contribution
AN - SCOPUS:85098948659
T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
SP - 337
EP - 341
BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Systems, ICUS 2020
Y2 - 27 November 2020 through 28 November 2020
ER -