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.
An extrinsic calibration method between lidar and gnss/ins for autonomous driving,
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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.