{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/targetless-calibration-of-lidar-imu-system","title":"Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation","arxiv_id":"2007.14759","date":"2020-07-29","proceeding":null,"authors":["Jiajun Lv","Jinhong Xu","Kewei Hu","Yong Liu","Xingxing Zuo"],"abstract":"Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D LiDAR and the Inertial Measurement Unit (IMU). % Regarding the high data capture rate for LiDAR and IMU sensors, LI-Calib adopts a continuous-time trajectory formulation based on B-Spline, which is more suitable for fusing high-rate or asynchronous measurements than discrete-time based approaches. % Additionally, LI-Calib decomposes the space into cells and identifies the planar segments for data association, which renders the calibration problem well-constrained in usual scenarios without any artificial targets. We validate the proposed calibration approach on both simulated and real-world experiments. The results demonstrate the high accuracy and good repeatability of the proposed method in common human-made scenarios. To benefit the research community, we open-source our code at \\url{https://github.com/APRIL-ZJU/lidar_IMU_calib}","url_abs":"https://arxiv.org/abs/2007.14759v1","url_pdf":"https://arxiv.org/pdf/2007.14759v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"targetless-calibration-of-lidar-imu-system","repo_url":"https://github.com/APRIL-ZJU/lidar_IMU_calib","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"targetless-calibration-of-lidar-imu-system","repo_url":"https://github.com/Gutsgwh1997/lidar_IMU_calib","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}