Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Target-free Extrinsic Calibration of a 3D-Lidar and an IMU   This work presents a novel target-free extrinsic calibration algorithm for a
3D Lidar and an IMU pair using an Extended Kalman Filter (EKF) which exploits
the \textit{motion based calibration constraint} for state update. The steps
include, data collection by motion excitation of the Lidar Inertial Sensor
suite along all degrees of freedom, determination of the inter sensor rotation
by using rotational component of the aforementioned \textit{motion based
calibration constraint} in a least squares optimization framework, and finally,
the determination of inter sensor translation using the \textit{motion based
calibration constraint} for state update in an Extended Kalman Filter (EKF)
framework. We experimentally validate our method using data collected in our
lab and open-source (https://github.com/unmannedlab/imu_lidar_calibration) our
contribution for the robotics research community.

2
The categories of this paper are: math
3
The categories of this paper are: physics
7
The categories of this paper are: hep-th
34
The categories of this paper are: chem-ph
31
The categories of this paper are: ao-sci
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
5
The categories of this paper are: gr-qc
22
The categories of this paper are: chao-dyn
25
The categories of this paper are: patt-sol
35
The categories of this paper are: mtrl-th
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
18
The categories of this paper are: econ
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an