What is the proper scene for the LiDAR-IMU calibration on a CAR?

APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

GNU General Public License v3.0

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What is the proper scene for the LiDAR-IMU calibration on a CAR? #23

Open v-dungnm21 opened 3 years ago

v-dungnm21 commented 3 years ago

Thank you so much for the great open-source. Can you please suggest to me the proper scene for the two sensors that are mounted on a CAR? It's not easy to fulfill the requirement: at least two rotations about different axes are necessary. Have you ever calibrated LiDAR-IMU on the CAR?

xiaokaibala commented 3 years ago

试一试倾斜安装，然后采集数据标定

zhoupengwei commented 3 years ago

@xiaokaibala 请问你在车载的情况下, 标定成功了嘛？或者手持的采集时, 只能沿平面运动嘛？我尝试了使用车载和手持的两种方式, 都没有得到较好的标定结果。

Shelfcol commented 2 years ago

@zpw6106 请问您在车载上成功标定lidar和imu了吗？

zhoupengwei commented 2 years ago

@Shelfcol 没有标不出来

Shelfcol commented 2 years ago

不知道您对于车载多传感器（相机 lidar imu 轮速记等等）的标定有什么高见？感觉车载传感器的标定有点不好做