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calib_lidar_imu

Linear Rotation Calibration about Lidar-Imu image

Dependencies

  • ROS (tested on Kinetic16.04)

  • PCL1.9.1

  • Eigen

  • Ceres

  • Gtsam

Build

  1. install and build ROS,PCL,ceres,gtsam

  2. run

    roslaunch calib_lidar_imu calib_lidar_imu.launch
    

calib result

drawing

drawing

TODO

  • Use scan-to-map[like loam] to solve lidar odometry pose instead of icp/ndt.
  • Use preintegration to solve the imu pose.

reference

[https://blog.csdn.net/u012700322/article/details/117021836]

calib_lidar_imu's People

Contributors

chengwei0427 avatar

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