  This work presents a novel extrinsic calibration estimation algorithm between
a 3D Lidar and an IMU using an Extended Kalman Filter which exploits the motion
based calibration constraint for state update. The steps include, data
collection by moving the Lidar Inertial sensor suite randomly along all degrees
of freedom, determination of the inter sensor rotation by using rotational
component of the aforementioned motion based calibration constraint in a least
squares optimization framework, and finally determination of inter sensor
translation using the motion based calibration constraint in an Extended Kalman
Filter (EKF) framework. We experimentally validate our method on data collected
in our lab.
