论文标题
LIDAR，IMU和相机的外部校准
Extrinsic Calibration of LiDAR, IMU and Camera
论文作者
论文摘要
在这项工作中，我们提出了一种新的方法，可以共同校准传感器套件，该套件在扩展的卡尔曼滤波器（EKF）框架下组成3D-LIDAR，惯性测量单元（IMU）和摄像头。我们利用了3个传感器对之间的成对约束来执行EKF更新，并通过实验证明了通过关节校准获得的出色性能，并针对单个传感器对校准。
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.
