search

Taeyoung96 / GRIL-Calib

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints
240 stars 22 forks source link

Factors #10

Open jiheddachraoui opened 2 months ago

jiheddachraoui commented 2 months ago

hello how can i exactly choose gyro_factor, acc_factor, ground_factor. Thank you

Taeyoung96 commented 2 months ago

@jiheddachraoui
Thanks for interesting our works!

We found the optimal parameter settings through experimentation.

jiheddachraoui commented 2 months ago

@Taeyoung96 , thank you for your response. In my case, I am using an external, highly precise IMU rather than the one integrated into my Ouster lidar. Could this impact the results and the way I should configure the parameters?

Taeyoung96 commented 2 months ago

@jiheddachraoui
Because the location of the IMU has changed, the results of the calibration will be different, but you can use the same pipeline for the calibration as long as you match the topic names.

Do you want to utilize the LIO as a result of the calibration parameter?
If so, I think you could probably get away with using ouster's internal IMU.