kkilove/lidar_calibration

Calibrating 3D Lidars

Lidar Calibration

Lidar Calibration is one of the most important steps before using any kind of lidars for any kind of use. Here we try to implement 2 research papers for unsupervised multi beam lidar calibration for autonomous vehicles. The refernces are below.

This repository is a code for georeferencing a multi beam lidar

Usage

I am too lazy to give the entire package and I believe others should try to make it The steps are a bit complicated

Make a ros package ; 
// it sholud contain the proper dependencies which include pcl, Eigen
paste it in the src and build it with proper launch file.
just run it on an approx 15s bag file

The lidar_planarity.cpp code requires a pointcloud to have x,y,z,ring

reference 1

The lidar_calibrator.cpp code requires a pointcloud to have x,y,z,r,theta,phi,ring

reference 2

Referneces

1. Unsupervised Calibration for Multi-beam Lasers

Jesse Levinson, Sebastian Thrun

2. Point cloud refinement with self-calibration of a mobile multibeam lidar sensor

Houssem Nouira, Jean-Emmanuel Deschaud, François Goulette