Lidar-IMU Calibration
Overview: IMU Vehicle Calibration App is a software tool that makes the process of calibrating an IMU sensor w.r.t vehicle simple and quick.
1 Calibration List Page
This page contains the list of calibrations. You can launch an existing dataset, delete and even manage your access to these datasets.
2. IMU Lidar Calibration Launch
You can select an existing IMU Lidar calibration from the list page, or click on the “New Calibration” button on the top-right of the calibration list page and select the IMU Vehicle in the window that pops.
3.Start Page
The page lists the important instructions and requirements that you need to follow in order to complete the calibration process.
Start the app by clicking on the “Get Started” button
Input the name you wish to give this calibration. This name will be shown on the calibration-list page. And then click on “Set Details”
4. Upload the data files
Upload the data files collected from lidar. Note that the PCD files must be a continuous sequence. They need to be in-order and without any skips.
Set IMU Position for each lidar data file uploaded
Import or enter the IMU config for each file. Position and rotation are in meters and degrees, respectively. Import supports a json file with primary key as the file name and the secondary keys as x, y, z, roll, pitch, yaw.
6. Calibrate
Once you have uploaded all the files and added corresponding imu configs you will get the “Run Calibration” button enabled for you.Click on it. Once the calibration results have been calculated, the results will appear on the right side of the screen.
There are two Algorithms that lidar-imu can use 1. LOAM (selected by default), 2. ICP. Based on your data and scenario you can chose the algorithm using the buttons to the top right. We have observed that ICP performs bettern when you have considerable amount ( ~ > 10 ) of frames and simple trajectories.
7. Visualise
You can visualise the extrinsics from the Visualise button to the top right of the screen after calibration runs
8. Export
You can export the results of the calibration using the “Export” button on the top-right of the page. Fill in the name of the output file and click on Export.
9. Calibration Results:
The Calibration results consist of the roll, pitch and yaw angles of the IMU w.r.t the vehicle , IMU W.R.T Lidar, Lidar W.R.T to vehicle
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