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Pierre Chamoun

pierre.chamoun@mila.quebec
Master's Research - McGill University
Supervisor
James Richard Forbes
Research Topics
Autonomous Robotics Navigation
Robotics
Uncertainty Estimation on Motion Groups
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Publications

Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
Vassili Korotkine
Pierre Chamoun
Mohammed Ayman Shalaby
James Richard Forbes
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration … (see more)typically necessitates full exci- tation of the sensor rig, a requirement that is not fulfilled by ground vehicles in normal operation. To address the degenerate planar motion, state-of-the-art methods propose residuals that assume the colinearity of the gravity and physical surface normal vectors, restricting usage to cases where the ground is assumed flat. This paper proposes ground-plane residuals that do not require this assumption, and are applicable for planar motion on a tilted surface. Results are demonstrated on a dataset collected from a Husky ground vehicle, on the M2DGR dataset, as well as on an offroad vehicle dataset. Repeatability is shown to be improved both in tilted and flat-ground scenarios, with strong improvement demonstrated for the tilted case. The implementation and experiments are open-sourced at https://github.com/vkorotkine/licalib_tilted_ground.
2026-08-24
arXiv (preprint)
doi.org
arxiv.org