In this work we present a novel method to jointly calibrate a sensor suite consisting a 3D-LiDAR, Inertial Measurement Unit (IMU) and Camera under an Extended Kalman Filter (EKF) framework. We exploit pairwise constraints between the 3 sensor pairs to perform EKF update and experimentally demonstrate the superior performance obtained with joint calibration as against individual sensor pair calibration.

翻译：在这项工作中,我们提出了一个新颖的方法来联合校准一个由3D-LiDAR、惯性测量单位(IMU)和镜头组成的3D-LiDAR传感器套件,在扩展的卡尔曼过滤器(EKF)框架下进行。 我们利用3对传感器之间的双向限制来进行EKF更新并实验性地展示通过联合校准获得的优异性能,而不是单个传感器配对校准。