3D LiDAR-GPS/IMU Calibration Based on Hand-Eye Calibration Model for Unmanned Vehicle

Abstract

For the unmanned vehicle, multi-line LiDAR (Light Detection and Ranging) and GPS/IMU are often used in conjunction for SLAM or the production of high-precision maps. To improve the accuracy of navigation as well as map building, the extrinsic parameters calibration of LiDAR and GPS/IMU is often required. In response to the problem of insufficient conditions in the calibration of LiDAR and GPS/IMU for unmanned vehicle, this paper proposes a decoupling method, grouping the extrinsic parameters for calibration, and finally merges the point clouds with the pose obtained by the GPS/IMU before and after calibration to get environment reconstruction results. With the reconstruction results before and after calibration, it is verified that the method proposed is effective.