2023
DOI: 10.1109/tim.2023.3328688
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Targetless Spatiotemporal Calibration for Multiple Heterogeneous Cameras and IMUs Based on Continuous-Time Trajectory Estimation

Shuolong Chen,
Xingxing Li,
Shengyu Li
et al.

Abstract: Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDARaided INS, radar-aided INS could achieve better performance in adverse weather conditions since the radar utilizes low-frequency measuring signals with less attenuation effect in atmospheric gases and rain. For such a radar-aided INS, accurate spatiotemporal transformation is a fundamen… Show more

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