IMU-ASSISTED TARGET-FREE EXTRINSIC CALIBRATION OF HETEROGENEOUS LIDARS BASED ON CONTINUOUS-TIME OPTIMIZATION

Zehao Yan1,  Lin Zhang 1, Zhong Wang2, and Shenjie Zhao 1

1School of Software Engineering, Tongji University, Shanghai, China

2Department of Automation, Shanghai Jiao Tong University, Shanghai, China

Introduction

This is the website for our paper IA-HeLiC. IA-HeLiC is a calibration framework of heterogeneous LiDAR systems assisted by IMU.

IA-HeLiC Calibration Dataset

dataset(password: pqvm)

We devised and developed a handheld device to collect our calibration dataset which is equipped with a ROBOSENSE RS-LiDAR-16 mechanical spinning LiDAR and a Livox Avia solid-state LiDAR. The Livox Avia LiDAR has a built-in 6-axis 200 Hz IMU. Our dataset collected with this device contains multiple sequences of sensor data in various real-world scenes, each lasting more than 1 minute.

Source Codes

IA-HeLiC

Demo Videos

The following is the demo video demonstrating the framework and performance of our IA-HeLiC in extrinsics calibration of a heterogeneous LiDAR system.

Last update: Jan. 29, 2024