When deploying autonomous systems that require several sensors for perception, accurate and reliable extrinsic calibration is required. In this research, we offer a reliable technique that can extrinsically calibrate numerous lidars in the base frame of a moving vehicle without the use of odometry estimation or fiducial markers. Our method is based on comparing the raw IMU signals between a collocated IMU present with the lidar and the IMU measurements from the GNSS system in the vehicle base frame. Additionally, based on our observability criterion, we choose measurements that include the most mutual information rather than comparing all comparable IMU readings. This enables us to locate the measurements that are most useful for real-time calibration. Utilizing data gathered from Scania test vehicles with various sensor setups, we have successfully validated our methodology.

翻译：在部署需要多个传感器进行感知的自主系统时，需要精确可靠的外参标定。本研究提出了一种可靠的技术，能够在移动车辆的基础坐标系下对多个激光雷达进行外参标定，无需使用里程计估计或基准标记。我们的方法基于比较与激光雷达共置的IMU的原始信号与车辆基础坐标系中GNSS系统的IMU测量值。此外，基于我们的可观测性准则，我们选择包含最多互信息的测量值，而非比较所有可比的IMU读数。这使我们能够定位对实时标定最有用的测量值。利用从配备不同传感器配置的斯堪尼亚测试车辆收集的数据，我们成功验证了该方法。