In the field of autonomous driving, multi-beam light detection and ranging (3D LIDAR) system and global navigation satellite system/integrated inertial navigation system (GNSS/INS) are widely used in high-definition map construction, localization and obstacle detection. As 3D LIDAR system and INS have their own coordinate systems, the calibration of the two mentioned systems is required. In this paper, a novel algorithm for calibrating the coordinate system of 3D LIDAR and INS is proposed, which consists of three parts. The first procedure is to project two point clouds to the world coordinate system based on the initial transform matrix between 3D LIDAR and INS with the real-time data from INS. Then optimal point-to-point correspondences can be found between two frames of point cloud data through registration method. Finally, the loss function is constructed with the sum of the Euclidean distances of the corresponding points and optimized by using perturbation model of Lie algebras, so as to obtain the optimal transform matrix. With different given initial calibration parameters, test results of both simulation and real experiments validate the proposed algorithm and quantify its accuracy and robustness.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust Extrinsic Parameter Calibration of 3D LIDAR Using Lie Algebras


    Contributors:
    Xia, Chao (author) / Shen, Yanqing (author) / Zhang, Tangyike (author) / Zhang, Songyi (author) / Huo, Yongbo (author) / Chen, Shitao (author) / Zheng, Nanning (author)


    Publication date :

    2019-06-01


    Size :

    2082914 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    HD-Map Aided LiDAR-INS Extrinsic Calibration

    Wong, Henry / Zhang, Xiaolong / Wen, Tuopu et al. | IEEE | 2021


    3D LiDAR Extrinsic Calibration Method using Ground Plane Model Estimation

    Zaiter, M.A. / Lherbier, R. / Faour, G. et al. | IEEE | 2019


    Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners

    Chen, Feiyi / Zhang, Shuyang / Xie, Xupeng et al. | IEEE | 2022


    LiDAR-Camera System Automatic Extrinsic Calibration in Rail Transit

    Wu, Qian / Zhang, Jin / Sheng, Jie et al. | IEEE | 2022


    Extrinsic Calibration of a 3D-LIDAR and a Camera

    Mishra, Subodh / Pandey, Gaurav / Saripalli, Srikanth | IEEE | 2020