LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System

摘要

Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating a motorized LiDAR offers a practical solution by significantly expanding the sensor’s FoV and enabling adaptive panoramic 3D sensing. However, the high-frequency vibrations of the quadruped robot introduce calibration challenges: these oscillations continually disturb the LiDAR–motor extrinsics, so parameters calibrated once may drift during operation and degrade sensing accuracy.Existing calibration methods that use artificial targets or dense feature extraction lack feasibility for on-site applications and real-time implementation. To overcome these limitations, we propose LiMo-Calib, an efficient on-site calibration method that eliminates the need for external targets by leveraging geometric features directly from raw LiDAR scans. LiMo-Calib optimizes feature selection based on normal distribution to accelerate convergence while maintaining accuracy and incorporates a reweighting mechanism that evaluates local plane fitting quality to enhance robustness. We integrate and validate the proposed method on a motorized LiDAR system mounted on a quadruped robot, demonstrating significant improvements in calibration efficiency and 3D sensing accuracy, making LiMo-Calib well-suited for real-world robotic applications. We further demonstrate the accuracy improvements of the Lidar Inertial Odometry (LIO) on the panoramic 3D sensing system using the calibrated parameters. The code will be available at: https://github.com/kafeiyin00/LiMo-Calib.