Paper ID: 2205.08701

Extrinsic Calibration of LiDAR, IMU and Camera

Subodh Mishra, Srikanth Saripalli

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.

Submitted: May 18, 2022