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Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration typically necessitates full exci- tation of the sensor rig, a requirement that is not fulfilled by ground vehicles in normal operation. To address the degenerate planar motion, state-of-the-art methods propose residuals that assume the colinearity of the gravity and physical surface normal vectors, restricting usage to cases where the ground is assumed flat. This paper proposes ground-plane residuals that do not require this assumption, and are applicable
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-25T20:35:18.000Z
First collected: 2026-09-21T09:42:05.193Z. This is not the publication date.