Linear Rotation Calibration about Lidar-Imu
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ROS (tested on Kinetic16.04)
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PCL1.9.1
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Eigen
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Ceres
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Gtsam
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install and build ROS,PCL,ceres,gtsam
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run
roslaunch calib_lidar_imu calib_lidar_imu.launch
- Use scan-to-map[like loam] to solve lidar odometry pose instead of icp/ndt.
- Use preintegration to solve the imu pose.
[https://blog.csdn.net/u012700322/article/details/117021836]