"Time Delay Error Online Correction of LiDAR-IMU System Through MSCKF I" by Wanli Liu, Zhixiong Li et al.
When fusing the measurement data with different sampling frequencies from the light detection and ranging (LiDAR) and inertial measurement unit (IMU), their timestamps should be exactly aligned. However, in reality the timestamps of LiDAR and IMU are typically subject to different influences, which will inevitably generate the time delay error to reduce the accuracy and robustness of the LiDAR-IMU system. To this avail, this article proposes a new method that integrates the double layer recurren...
Delay Effects Laser Radar Ight Detection And Ranging Inertial Measurement Unit Lidar Imu Measurement Uncertainty Online Correction Q Measurement
Source: uow.edu.au