{"id":"https://openalex.org/W3047579219","doi":"https://doi.org/10.1109/access.2020.3014121","title":"Targetless Camera-LiDAR Calibration in Unstructured Environments","display_name":"Targetless Camera-LiDAR Calibration in Unstructured Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3047579219","doi":"https://doi.org/10.1109/access.2020.3014121","mag":"3047579219"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3014121","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3014121","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09157871.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09157871.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028493603","display_name":"Miguel \u00c1ngel Mu\u00f1oz-Ba\u00f1\u00f3n","orcid":"https://orcid.org/0000-0002-3220-2286"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel Angel Munoz-Banon","raw_affiliation_strings":["Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain"],"raw_orcid":"https://orcid.org/0000-0002-3220-2286","affiliations":[{"raw_affiliation_string":"Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024241914","display_name":"Francisco A. Candelas-Her\u00edas","orcid":"https://orcid.org/0000-0002-7126-0374"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco A. Candelas","raw_affiliation_strings":[", , and , of , ,","Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", , and , of , ,","institution_ids":[]},{"raw_affiliation_string":"Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073404621","display_name":"Fernando Torres","orcid":"https://orcid.org/0000-0002-6261-9939"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Torres","raw_affiliation_strings":[", , and , of , ,","Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain"],"raw_orcid":"https://orcid.org/0000-0002-6261-9939","affiliations":[{"raw_affiliation_string":", , and , of , ,","institution_ids":[]},{"raw_affiliation_string":"Automatics, Robotics, and Computer Vision Group (AUROVA), University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130194489"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":39.0819,"has_fulltext":true,"cited_by_count":46,"citation_normalized_percentile":{"value":0.99424506,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"143692","last_page":"143705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8000683784484863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7598137855529785},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.751573920249939},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7352625131607056},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7347356081008911},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6045195460319519},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5594557523727417},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5423591136932373},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4564589858055115},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4364529252052307},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4198302924633026},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3598337173461914},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15380755066871643},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09749725461006165},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08533349633216858}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8000683784484863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7598137855529785},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.751573920249939},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7352625131607056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7347356081008911},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6045195460319519},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5594557523727417},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5423591136932373},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4564589858055115},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4364529252052307},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4198302924633026},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3598337173461914},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15380755066871643},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09749725461006165},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08533349633216858},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3014121","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3014121","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09157871.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:dnet:ruarepositor::23368da2de7741f354b8840ae21cebd0","is_oa":true,"landing_page_url":"http://hdl.handle.net/10045/108689","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:889d3f9877a742cf832d276e1281767e","is_oa":true,"landing_page_url":"https://doaj.org/article/889d3f9877a742cf832d276e1281767e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 143692-143705 (2020)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:10563039","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ACCESS.2020.3014121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, 8, 143692-143705, (2020-08-04)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3014121","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3014121","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09157871.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G46014494","display_name":null,"funder_award_id":"ACIF/2019/088","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G7008601216","display_name":null,"funder_award_id":"AICO/2019/020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320307502","display_name":"American Concrete Institute Foundation","ror":"https://ror.org/02a207p76"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3047579219.pdf","grobid_xml":"https://content.openalex.org/works/W3047579219.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1984667320","https://openalex.org/W1990398405","https://openalex.org/W2004597179","https://openalex.org/W2017088761","https://openalex.org/W2046434485","https://openalex.org/W2075628905","https://openalex.org/W2093220968","https://openalex.org/W2097649661","https://openalex.org/W2111365302","https://openalex.org/W2113735881","https://openalex.org/W2115579991","https://openalex.org/W2155056756","https://openalex.org/W2156412592","https://openalex.org/W2164232884","https://openalex.org/W2295149141","https://openalex.org/W2399453552","https://openalex.org/W2461937780","https://openalex.org/W2518103224","https://openalex.org/W2518401284","https://openalex.org/W2556806731","https://openalex.org/W2561990479","https://openalex.org/W2588221994","https://openalex.org/W2745251036","https://openalex.org/W2746193234","https://openalex.org/W2771252932","https://openalex.org/W2891031479","https://openalex.org/W2896099866","https://openalex.org/W2899709424","https://openalex.org/W2903297106","https://openalex.org/W2909376995","https://openalex.org/W2909816247","https://openalex.org/W2910442875","https://openalex.org/W2913984418","https://openalex.org/W2933190127","https://openalex.org/W2945512053","https://openalex.org/W2963793227","https://openalex.org/W2967926749","https://openalex.org/W2969394682","https://openalex.org/W2970676797","https://openalex.org/W2990464486","https://openalex.org/W2992931017","https://openalex.org/W2995949129","https://openalex.org/W2999050151","https://openalex.org/W3012996706","https://openalex.org/W3101092662","https://openalex.org/W3124420883"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2562256921"],"abstract_inverted_index":{"The":[0,132],"camera-Lidar":[1],"sensor":[2],"fusion":[3],"plays":[4],"an":[5,37,141],"important":[6],"role":[7],"in":[8,23,66,138,160],"autonomous":[9],"navigation":[10],"research.":[11],"Nowadays,":[12],"the":[13,48,74,88,92,103,109,115,125,156,174,188,193,197,200,213,216],"automatic":[14],"calibration":[15,33,194],"of":[16,56,76,176,215],"these":[17,97],"sensors":[18],"remains":[19],"a":[20,31,57,120,145,152,168,179],"significant":[21],"challenge":[22],"mobile":[24],"robotics.":[25],"In":[26,99,203],"this":[27,161,204],"article,":[28],"we":[29,82,86,107,118,158,186,206,211],"present":[30,159],"novel":[32,58],"method":[34,54,134,157],"that":[35,61,95],"achieves":[36],"accurate":[38],"six-degree-of-freedom":[39],"(6-DOF)":[40],"rigid-body":[41],"transformation":[42],"estimation":[43],"(aka":[44],"extrinsic":[45,93],"parameters)":[46],"between":[47,73],"camera":[49,78],"and":[50,79,148,210],"LiDAR":[51],"sensors.":[52],"This":[53],"consists":[55],"co-registration":[59],"approach":[60],"uses":[62],"local":[63],"edge":[64],"features":[65],"arbitrary":[67],"environments":[68],"to":[69,101,166],"get":[70],"3D-to-2D":[71,84],"errors":[72],"data":[75],"both,":[77],"LiDAR.":[80],"Once":[81],"have":[83],"errors,":[85],"estimate":[87],"relative":[89],"transform,":[90],"i.e.,":[91],"parameters,":[94],"minimizes":[96],"errors.":[98],"order":[100],"find":[102],"best":[104],"transform":[105],"solution,":[106],"use":[108,119,187],"perspective-three-point":[110],"(P3P)":[111],"algorithm.":[112],"To":[113,182],"refine":[114],"final":[116],"calibration,":[117],"Kalman":[121],"Filter,":[122],"which":[123,172],"gives":[124],"system":[126,217],"high":[127],"stability":[128],"against":[129,218],"noise":[130],"disturbances.":[131],"presented":[133],"does":[135,163],"not":[136,164,177],"require,":[137],"any":[139],"case,":[140],"artificial":[142],"target,":[143],"or":[144],"structured":[146],"environment,":[147],"therefore,":[149],"it":[150],"is":[151],"target-less":[153],"calibration.":[154],"Furthermore,":[155],"article":[162],"require":[165],"achieve":[167,207],"dense":[169],"point":[170],"cloud,":[171],"holds":[173],"advantage":[175],"needing":[178],"scan":[180],"accumulation.":[181],"test":[183],"our":[184],"approach,":[185],"state-of-the-art":[189],"Kitti":[190],"dataset,":[191],"taking":[192],"provided":[195],"by":[196],"dataset":[198],"as":[199],"ground":[201],"truth.":[202],"way,":[205],"accuracy":[208],"results,":[209],"demonstrate":[212],"robustness":[214],"very":[219],"noisy":[220],"observations.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
