A targetless calibration method uses the measured height of the GINS above the ground to make the vertical extrinsic components observable under planar vehicle motion.
On the road to aiot: A framework for vehicle road cooperation,
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Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles
A targetless calibration method uses the measured height of the GINS above the ground to make the vertical extrinsic components observable under planar vehicle motion.