lidar_align
A ROS-based method for extrinsic calibration between a 3D LiDAR and a 6-DOF pose sensor using point cloud crispness optimization.
What is lidar_align?
lidar_align is a ROS-based tool for extrinsic calibration between a 3D LiDAR and a 6-DOF pose sensor. It solves the problem of accurately determining the spatial transformation between these sensors, which is essential for reliable sensor fusion in robotics and autonomous vehicles. The method optimizes calibration by maximizing the 'crispness' of fused point clouds across multiple scans.
Robotics engineers and researchers working on autonomous vehicles, drones, or mobile robots that integrate LiDAR with IMUs, visual odometry, or other pose estimation systems.
It offers a simple, optimization-based approach that avoids manual measurements or complex feature matching, provides time offset calibration, and outputs directly usable transformation matrices for integration into ROS-based systems.
Overview
A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
Use Cases
Best For
- Calibrating LiDAR-IMU systems on drones or ground robots
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