How to calibrate the extrinsic parameters between LiDAR and GNSS/INS

[debuleilei]

Hello ,I've read the Method for calibrating the extrinsic parameters between LiDAR and GNSS/INS.and I've finished the first step .But I don't know how to use the initial parameters to do the optimization .I've get the Minimal Transform Matrix after the GICP ,the I try to get the x,seem like AX=XB,but the 8 way can only give One-dimensional constraint，I mean the axis of rotation is parallel.so I can't get good result with Navy_HandEye method(Used to solve problems　AX=XB)． Ｉ＇ｍ confused ,can you give me some advice? thanks

[pedestrain123]

@debuleilei 你好，请问你解决这个问题了吗？