APRIL-ZJU/lidar_IMU_calib
[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation observed · 2026-08-28
Health v2 · maintenance only
32/100
- Activity 0
- Release rhythm 35
- Longevity 100
Flags: no_releases
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-03. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 2375
- days_rel: n/a
- days_push: 1206
- n_releases_24m: 0
Adoption not part of the score
1179 stars · 247 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
LI-Calib is a C++/ROS toolkit that calibrates the 6DoF rigid transformation and time offset between a 3D LiDAR and an IMU using continuous-time batch optimization. It jointly minimizes IMU-based costs and LiDAR point-to-surfel distances, enabling targetless calibration in general scenarios.
Use cases
- calibrate lidar to imu extrinsic transformation
- estimate time offset between lidar and imu sensors
- targetless lidar-imu calibration without calibration targets
- continuous-time batch optimization for sensor calibration
- calibrate velodyne vlp-16 with an imu
- sensor fusion calibration for robotics and autonomous driving
When to choose
- you need to calibrate a 3D LiDAR-IMU pair without a calibration target
- you want to jointly estimate extrinsics and time offset via continuous-time optimization
- you are working with ROS and a VLP-16 (or similar) LiDAR
- you need research-grade calibration based on the IROS 2020 paper
When to avoid
- you need camera or multi-sensor (e.g., LiDAR-camera) calibration
- you require support for LiDARs other than VLP-16 out of the box
- you need a real-time or actively maintained production tool
- you are not using ROS or Linux
Facets
application · maturity maintenance
simulation computer-vision graphics robotics autonomous-vehicles cpp lidar imu sensor-calibration continuous-time-optimization ros ceres-solver extrinsic-calibration time-offset-estimation targetless-calibration robotics-research algorithms linux
1 source
- readme: https://github.com/APRIL-ZJU/lidar_IMU_calib · fetched 2026-08-28 · 6153ba668a08
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| APRIL-ZJU/lidar_IMU_calib | main | 32 |
For agents
markdown · JSON · MCP: product_card(name="APRIL-ZJU/lidar_IMU_calib")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem