LiDAR_IMU_Init

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Using the RS-Helios-5515 and LPMS-IMU, I run the calibration algorithm. The data was first recorded in ROS 2, then converted to a ROS 1 bag using rosbags, and finally processed with li-init. After modifying the parameters, I ran robosense.launch. At first, I encountered a warning about missing intensity information. To resolve this, I changed the std::uint8_t intensity field to float intensity in robosense_ros, which eliminated the warning. However, the algorithm failed to run properly. Later, I converted the Robosense message to the Velodyne format and run velodyne.launch. This time, the algorithm worked. In the calibration results, the rotation was basically correct (both are right-handed systems and close to the identity matrix), but the translation values were significantly different from the actual values.

①0605_01_rs_velo_lpms.bag

Rotation LiDAR to IMU (degree) = -0.784384 -0.045360 -0.828716 Translation LiDAR to IMU (meter) = 0.211303 0.059412 0.157484 Time Lag IMU to LiDAR (second) = 0.007611 Bias of Gyroscope (rad/s) = 0.004910 0.009312 0.014216 Bias of Accelerometer (meters/s^2) = -0.010029 -0.010030 -0.009940 Gravity in World Frame(meters/s^2) = 0.054122 -1.731759 -9.655785

Homogeneous Transformation Matrix from LiDAR to IMU: 0.999895 0.014472 -0.000594 0.211303 -0.014462 0.999802 0.013699 0.059412 0.000792 -0.013689 0.999906 0.157484 0.000000 0.000000 0.000000 1.000000

②0605_02_rs_velo_lpms.bag

Refinement result: Rotation LiDAR to IMU (degree) = 1.012409 1.952379 1.804347 Translation LiDAR to IMU (meter) = 0.104080 -0.064304 -0.029743 Time Lag IMU to LiDAR (second) = -0.005195 Bias of Gyroscope (rad/s) = -0.008798 -0.003649 0.002594 Bias of Accelerometer (meters/s^2) = -0.019129 -0.030331 0.027558 Gravity in World Frame(meters/s^2) = 0.609719 -2.335744 -9.508584

Homogeneous Transformation Matrix from LiDAR to IMU: 0.998924 -0.030878 0.034600 0.104080 0.031466 0.999367 -0.016587 -0.064304 -0.034066 0.017657 0.999264 -0.029743 0.000000 0.000000 0.000000 1.000000

③0605_03_rs_velo_lpms.bag

Refinement result: Rotation LiDAR to IMU (degree) = -3.018619 -6.625734 1.093770 Translation LiDAR to IMU (meter) = 0.159634 -0.060622 0.296643 Time Lag IMU to LiDAR (second) = -0.014951 Bias of Gyroscope (rad/s) = 0.010700 0.008402 0.004843 Bias of Accelerometer (meters/s^2) = -0.082496 0.025818 0.031931 Gravity in World Frame(meters/s^2) = -0.107351 -2.241556 -9.559997

Homogeneous Transformation Matrix from LiDAR to IMU: 0.993141 -0.012987 -0.116199 0.159634 0.018960 0.998547 0.050448 -0.060622 0.115375 -0.052305 0.991944 0.296643 0.000000 0.000000 0.000000 1.000000