# A Simple Self-calibration Method for The Internal Time Synchronization of MEMS LiDAR

arXiv: https://arxiv.org/abs/2109.12506 · HTML: https://mlsanity.com/paper/2109.12506/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 10 references that are in the map.
- First posted on arXiv 26 Sep 2021.

## Builds on (most cited first, 2 of 2)

- [LIC-Fusion: LiDAR-Inertial-Camera Odometry](https://mlsanity.com/paper/1909.04102/) (2019)
- [LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking](https://mlsanity.com/paper/2008.07196/) (2020)

## Abstract (arXiv)

This paper proposes a simple self-calibration method for the internal time synchronization of MEMS(Micro-electromechanical systems) LiDAR during research and development. Firstly, we introduced the problem of internal time misalignment in MEMS lidar. Then, a robust Minimum Vertical Gradient(MVG) prior is proposed to calibrate the time difference between the laser and MEMS mirror, which can be calculated automatically without any artificial participation or specially designed cooperation target. Finally, actual experiments on MEMS LiDARs are implemented to demonstrate the effectiveness of the proposed method. It should be noted that the calibration can be implemented in a simple laboratory environment without any ranging equipment and artificial participation, which greatly accelerate the progress of research and development in practical applications.