calib_lidar_imu

Linear Rotation Calibration about Lidar-Imu

Dependencies

• ROS (tested on Kinetic16.04)

• PCL1.9.1

• Eigen

• Ceres

• Gtsam

Build

1. install and build ROS,PCL,ceres,gtsam

2. run

   roslaunch calib_lidar_imu calib_lidar_imu.launch
   

calib result

TODO

• [ ] Use scan-to-map[like loam] to solve lidar odometry pose instead of icp/ndt.
• [ ] Use preintegration to solve the imu pose.

reference

[https://blog.csdn.net/u012700322/article/details/117021836]