待翻譯：Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.25135v1 Announce Type: new Abstract: 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 for planar motion on a tilted surface. Results are demonstrated on a dataset collected from a Husky ground vehicle, on the M2DGR dataset, as well as on an offroad vehicle dataset. Repeatability is shown to be improved both in tilted and flat-ground scenarios, with strong improvement demonstrated for the tilted case. The implementation and experiments are open-sourced at https://github.com/vkorotkine/licalib_tilted_ground.
AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
--> [Submitted on 25 Aug 2026] Title:Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework View a PDF of the paper titled Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework, by Vassili Korotkine and 3 other authors View PDF HTML (experimental) Abstract: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 for planar motion on a tilted surface. Results are demonstrated on a dataset collected from a Husky ground vehicle, on the M2DGR dataset, as well as on an offroad vehicle dataset. Repeatability is shown to be improved both in tilted and flat-ground scenarios, with strong improvement demonstrated for the tilted case. The implementation and experiments are open-sourced at this https URL. Comments: 8 pages, 13 figures. Submitted to Robotics & Automation Letters Subjects: Robotics (cs.RO) Cite as: arXiv:2608.25135 [cs.RO] (or arXiv:2608.25135v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.25135 arXiv-issued DOI via DataCite (pending registration) Submission history From: Vassili Korotkine [view email] [v1] Tue, 25 Aug 2026 20:35:18 UTC (4,783 KB) Full-text links: Access Paper: View a PDF of the paper titled Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework, by Vassili Korotkine and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)