Extrinsic Calibration of a 3D-LIDAR and a Camera Institutional Repository Document uri icon

abstract

  • In this work we present a novel method to jointly calibrate a sensor suite consisting a 3D-LiDAR, Inertial Measurement Unit (IMU) and Camera under an Extended Kalman Filter (EKF) framework. We exploit pairwise constraints between the 3 sensor pairs to perform EKF update and experimentally demonstrate the superior performance obtained with joint calibration as against individual sensor pair calibration.

altmetric score

  • 0.5

author list (cited authors)

  • Mishra, S., Pandey, G., & Saripalli, S.

citation count

  • 0

complete list of authors

  • Mishra, Subodh||Pandey, Gaurav||Saripalli, Srikanth

Book Title

  • arXiv

publication date

  • March 2020