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LVI-ExC: A Target-free LiDAR-Visual-Inertial Extrinsic Calibration Framework
Proceedings of the 30th ACM International Conference on Multimedia
Recently, the multi-modal fusion with 3D LiDAR, camera, and IMU has shown great potential in applications of automation-related fields. Yet a prerequisite for a successful fusion is that the geometric relationships among the sensors are accurately determined, which is called an extrinsic calibration problem. To date, the existing targetbased approaches to deal with this problem rely on sophisticated calibration objects (sites) and well-trained operators, which is timeconsuming and inflexible indoi:10.1145/3503161.3547878 fatcat:6lntmln6bnhcjjr2qxjhqz5gni