Motion-Based Calibration Between Multiple Lidars And Ins With Rigid Body Constraint On Vehicle Platform

This paper proposes a robust and reliable motionbased calibration algorithm of multiple LiDARs and INS (inertial navigation system). The conventional methods utilize appearance-based matching results or only motions of sensors. Therefore, this paper proposes a graph structure-based optimization method with three special constraints. The first constraint is matching-based constraint. This constraint provides reliable transformations between LiDARs. Second, motionbased constraint allows to calibrate between LiDARs and INS. Last one is rigid body constraint from an assumption of rigid body platform. This constraint significantly improves position errors from ambiguities of monotonous motions, and it makes LiDAR sensors possible to fully calibrate with 6-DoF (degree-offreedom) motions of INS. The proposed method was analyzed with KITTI data and applied to real autonomous vehicle to show its superiority.