Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs

Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for spinning LiDARs have been based on hypothesized based on th...

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Veröffentlicht in:	arXiv.org 2021-07
Hauptverfasser:	Huang, Jiunn-Kai, Feng, Chenxi, Achar, Madhav, Ghaffari, Maani, Grizzle, Jessy W
Format:	Artikel
Sprache:	eng
Schlagworte:	Calibration Lie groups Mathematical models Matrix methods Navigation systems Parameter estimation Parameter modification Robustness (mathematics) Semidefinite programming Solid state Tetrahedra Three dimensional models
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