Data Collection for IMU Lidar Targetless Calibration

Data collection for targetless IMU-lidar calibration:

Data collection for targetless IMU-lidar calibration:

  1. Mount lidar on the vehicle. Also have the IMU in/on the vehicle mounted

  2. Record a scene with 5-50 frames where the vehicle is moving with both imu and lidar collecting data.

  3. Keep the imu mounted on a stable surface with respect to vehicle for error free results.

Example data:

Extrinsic Calibration Output:

  • roll, pitch, yaw are in degrees and x, y, z are in meters.

  • roll, pitch, yaw, x, y, z are the corresponding imu readings for a frame in put with respect to lidar and are the angels between sensors and vehicle in output as mentioned in the output screen.

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