{"id":"https://openalex.org/W1531480177","doi":"https://doi.org/10.1109/icra.2015.7139700","title":"Extrinsic calibration of a 2d laser-rangefinder and a camera based on scene corners","display_name":"Extrinsic calibration of a 2d laser-rangefinder and a camera based on scene corners","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1531480177","doi":"https://doi.org/10.1109/icra.2015.7139700","mag":"1531480177"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048830936","display_name":"Ruben Gomez-Ojeda","orcid":"https://orcid.org/0000-0002-5338-1746"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ruben Gomez-Ojeda","raw_affiliation_strings":["Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053496766","display_name":"Jes\u00fas Briales","orcid":"https://orcid.org/0000-0002-4786-4936"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus Briales","raw_affiliation_strings":["Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010118502","display_name":"Eduardo Fern\u00e1ndez-Moral","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Fernandez-Moral","raw_affiliation_strings":["Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Mapir Group of Department of System Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3699,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.94800486,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3611","last_page":"3616"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7533106803894043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7397401928901672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6877520680427551},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6757242679595947},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6078275442123413},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5704168677330017},{"id":"https://openalex.org/keywords/complement","display_name":"Complement (music)","score":0.5551947951316833},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5269691944122314},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5241941809654236},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.5151339769363403},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5081324577331543},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.44604647159576416},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.4157661199569702},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23110392689704895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17706719040870667},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07935690879821777}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7533106803894043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7397401928901672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6877520680427551},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6757242679595947},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6078275442123413},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5704168677330017},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.5551947951316833},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5269691944122314},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5241941809654236},{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.5151339769363403},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5081324577331543},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.44604647159576416},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.4157661199569702},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23110392689704895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17706719040870667},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07935690879821777},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188082640","wikidata":"https://www.wikidata.org/wiki/Q1780899","display_name":"Complementation","level":4,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C127716648","wikidata":"https://www.wikidata.org/wiki/Q104053","display_name":"Phenotype","level":3,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W1582569024","https://openalex.org/W1600982264","https://openalex.org/W1977606239","https://openalex.org/W1992989752","https://openalex.org/W1996881524","https://openalex.org/W1997763771","https://openalex.org/W2033819227","https://openalex.org/W2046496533","https://openalex.org/W2085052797","https://openalex.org/W2087718299","https://openalex.org/W2095614026","https://openalex.org/W2123963008","https://openalex.org/W2133505209","https://openalex.org/W2143064560","https://openalex.org/W2146160736","https://openalex.org/W2159957588","https://openalex.org/W2160072137","https://openalex.org/W2161219841","https://openalex.org/W3152092885","https://openalex.org/W6603604263","https://openalex.org/W6634925978","https://openalex.org/W6658838613","https://openalex.org/W6680028861","https://openalex.org/W6680890533"],"related_works":["https://openalex.org/W2887372391","https://openalex.org/W2393869535","https://openalex.org/W2351886140","https://openalex.org/W2118281920","https://openalex.org/W1966790301","https://openalex.org/W1605428578","https://openalex.org/W3123166102","https://openalex.org/W2356810418","https://openalex.org/W2120056181","https://openalex.org/W1551468058"],"abstract_inverted_index":{"Robots":[0],"are":[1,61],"often":[2],"equipped":[3],"with":[4,131],"2D":[5],"laser-rangefinders":[6],"(LRFs)":[7],"and":[8,84,108,133],"cameras":[9],"since":[10,99],"they":[11],"complement":[12],"well":[13],"to":[14,19,29,36,49,86,94],"each":[15],"other.":[16],"In":[17,41],"order":[18],"correctly":[20],"combine":[21],"measurements":[22],"from":[23],"both":[24],"sensors,":[25],"it":[26,100],"is":[27,129],"required":[28],"know":[30],"their":[31,38],"relative":[32,90],"pose,":[33],"that":[34,120],"is,":[35],"solve":[37],"extrinsic":[39],"calibration.":[40],"this":[42],"paper":[43],"we":[44],"present":[45],"a":[46,111,114],"new":[47],"approach":[48,128],"such":[50],"problem":[51],"which":[52,60,78],"relies":[53,121],"on":[54,122],"the":[55,70,80,140],"observations":[56],"of":[57,105,113],"orthogonal":[58],"trihedrons":[59],"profusely":[62],"found":[63],"as":[64,110],"corners":[65],"in":[66],"human-made":[67],"scenarios.":[68],"Thus,":[69],"method":[71],"does":[72],"not":[73],"require":[74],"any":[75],"specific":[76],"pattern,":[77],"turns":[79],"calibration":[81],"process":[82],"fast":[83],"simpler":[85],"perform.":[87],"The":[88],"estimated":[89],"pose":[91],"has":[92],"proven":[93],"be":[95],"also":[96],"very":[97],"precise":[98],"uses":[101],"two":[102],"different":[103],"types":[104],"constraints,":[106],"line-to-plane":[107],"point-to-plane,":[109],"result":[112],"richer":[115],"configuration":[116],"than":[117,139],"previous":[118],"proposals":[119],"plane":[123],"or":[124],"V-shaped":[125],"patterns.":[126],"Our":[127],"validated":[130],"synthetic":[132],"real":[134],"experiments,":[135],"showing":[136],"better":[137],"performance":[138],"state-of-art":[141],"methods.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
