Journal article
Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method
Abstract
In unmanned vehicles, LiDARs and GPS/INSs are the most popular sensors to achieve perception and positioning. Precise calibration of the extrinsic parameters between the LiDAR and the GPS/INS is necessary for a successful implementation of sensor fusion. The extrinsic transformation between the LiDAR and GPS/INS is 6D ($x$ , $y$ , $z$ , $yaw$ , $pitch$ , $roll$ ), but the motion of a vehicle is mainly 3D ($x$ , $y$ , $yaw$ ). The problem is to …
Authors
Yuwen X; Chen L; Yan F; Zhang H; Tang J; Tian B; Ai Y
Journal
IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 1, pp. 215–224
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2022
DOI
10.1109/tits.2020.3009674
ISSN
1524-9050