Title: Real-time IMU Bias Calibration for LiDAR-Inertial SLAM
Abstract: LiDAR-Inertial SLAM requires accurate initial values of the IMU bias, while the bias of gyroscope and accelerometer can change over time. This paper proposes a real-time and robust method for calibrating IMU bias in LiDAR-Inertial odometry, without requiring the sensor to be static. Our approach separates LiDAR odometry and pre-integrated IMU measurements into two parts for pose estimation, and then tightly integrates the results to solve for gyroscope and accelerometer bias using maximum a posteriori probability (MAP) estimation. Experimental results in various scenarios validate the ability of our method to achieve fast and robust IMU bias calibration in both static and dynamic states.
Publication Year: 2023
Publication Date: 2023-10-27
Language: en
Type: article
Indexed In: ['crossref']
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