2022/05/18 by Subodh Mishra, Srikanth Saripalli, Mishra, Subodh +1
Earth and Planetary Sciences · Engineering · #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #Inertial Sensor and Navigation #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2205.08701
openalex publication_date 2022/05/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this work we present a novel method to jointly calibrate a sensor suite consisting a 3D-LiDAR, Inertial Measurement Unit (IMU) and Camera under an Extended Kalman Filter (EKF) framework. We exploit pairwise constraints between the 3 sensor pairs to perform EKF update and experimentally demonstrate the superior performance obtained with joint calibration as against individual sensor pair calibration.