Data Collection for IMU Lidar Targetless 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.