Use the environment as a reference
Raw scans provide the geometric structure needed for calibration.
IEEE IROS · 2025 / PERCEPTION & CONTROL
LiMo-Calib.
Calibrate on site, using the scene around you.
Target-free LiDAR–motor calibration for panoramic 3D sensing on a quadruped robot.
- LiDAR calibration
- Quadruped robots
- Panoramic sensing
01 / OVERVIEW
The idea.
LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2025
A motorized LiDAR expands a quadruped robot’s field of view, but its motor-to-sensor transform must be accurate. LiMo-Calib estimates this calibration from geometric features in LiDAR scans without requiring an external calibration target.
- No external calibration target
- Geometry-based feature selection
- Plane-quality reweighting
RESEARCH VISUALS
Watch the experiment.
LiMo-Calib calibration demonstration from the authors’ public project.
02 / IMPLEMENTATION
How it works.
- Collect
Acquire raw LiDAR scans.
- Select
Choose geometric features using surface normals.
- Calibrate
Optimize the LiDAR–motor transformation.
- Sense
Apply the calibration to panoramic mapping.
Prioritize useful features
Normal-based selection and plane-quality weighting support robust estimation.
Connect calibration to mapping
The calibrated parameters improve the consistency of the sensing system.
03 / RESOURCES
Read further.
The paper, original demonstrations, and available project materials.
Original paperLiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing SystemOriginal demonstrationWatch the video associated with this research.Code & project materialsExplore the authors’ public project.Panoramic mapping demoMapping with the calibrated sensing system.