Multi-sensor extrinsic calibration

lidar and imu calibration

code: https://gitcode.net/weixin_42990464/calib_lidar_imu

rely

• ROS (tested on Kinetic16.04)

• PCL1.9.1

• Own

• Ceres

• Gtsam

use

• install and build ROS,PCL,ceres,gtsam
• run

roslaunch calib_lidar_imu calib_lidar_imu.launch

Calibration result

code: https://github.com/APRIL-ZJU/lidar_IMU_calib

Usage reference: https://www.cnblogs.com/chenlinchong/p/14048969.html