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Calibration Between Lidar and IMU

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1. Intro

Goal: calibrate between leishen lidar C16 and 6 axis IMU

Ref: unmannedlab/imu_lidar_calibration: Target-free Extrinsic Calibration of a 3D Lidar and an IMU (github.com)

2. Theory

Ref

Goal: estimate the extrinsic
$$
T_L^I=\left[\begin{array}{cc}
R_L^I & { }^I \mathrm{P}_{\mathrm{L}} \
0 & 1
\end{array}\right]
$$
Step:

  • Rotation Estimation

image-20230527162339584

Motion of Lidar = Motion of IMU

image-20230527162708340
  • Tranlation Estimation

Refine the rotation and translation

image-20230527163220016

the key state is from Lidar data

Minimize the data in a EKF process

System design

3. Data Analysis

The data sample

image-20230527172131502

Ours

image-20230527172251129

image-20230527174240241

roll, pitch, azimuth

3.1. difference between azimuth and yaw

while the yaw is turn from current orientaion

the azimuth is the absolute heading

Ref

4.