Online Initialization for Monocular Visual-Inertial-LiDAR System with Extrinsic Calibration and Software Time Synchronization

Related Paper

Y. Wang and H. Ma, "Online Spatial and Temporal Initialization for a Monocular Visual-Inertial-LiDAR System," in IEEE Sensors Journal, vol. 22, no. 2, pp. 1609-1620, 15 Jan.15, 2022, doi: 10.1109/JSEN.2021.3133578.Link

@ARTICLE{9641839,  
author={Wang, Yan and Ma, Hongwei},  
journal={IEEE Sensors Journal},   
title={Online Spatial and Temporal Initialization for a Monocular Visual-Inertial-LiDAR System},   
year={2022},  
volume={22},  
number={2},  
pages={1609-1620},  
doi={10.1109/JSEN.2021.3133578}}

Hardware introduction

Our VILS is a self-assembled handheld device, it consists of the following:

• MYNTEYE-D120 VI sensor https://www.mynteye.com/pages/mynt-eye-d
• LeiShen-C16 3d spinning LiDAR https://www.leishen-lidar.com/
• DJI-Manfold2-c mini PC with i7-8559U processor https://www.dji.com/cn/manifold-2
• PocketLCD Screen https://github.com/peng-zhihui/PocketLCD
• Battery https://store.dji.com/cn/product/matrice-100-tb47d-battery

DataSets

indoor

outdoor

Description

name	size
indoor.bag	3.84G
outdoor.bag	7.56G
FourMinuteIndoor.bag	25.04G

Topic:

• imu_topic: /mynteye/imu/data_raw 200hz
• image_topic: /mynteye/left/image_mono 30hz
• lidar_topic: /lslidar_point_cloud 5/10hz

The datasets are avaliable here: Link：https://pan.baidu.com/s/1quMoph8gzQdlNboWlgLDZw pin：gwnm

Demo

indoor

outdoor

comparison (VI)

different installations