{"id":"https://openalex.org/W2418849765","doi":"https://doi.org/10.1109/icra.2016.7487628","title":"Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes","display_name":"Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2418849765","doi":"https://doi.org/10.1109/icra.2016.7487628","mag":"2418849765"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5083047722","display_name":"Joern Rehder","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Joern Rehder","raw_affiliation_strings":["ETH, Autonomous Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014863217","display_name":"Janosch Nikolic","orcid":"https://orcid.org/0000-0002-1073-9699"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Janosch Nikolic","raw_affiliation_strings":["ETH, Autonomous Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063076241","display_name":"Thomas Schneider","orcid":"https://orcid.org/0000-0002-1383-769X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thomas Schneider","raw_affiliation_strings":["ETH, Autonomous Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054439845","display_name":"Timo Hinzmann","orcid":"https://orcid.org/0000-0001-7446-9790"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Timo Hinzmann","raw_affiliation_strings":["ETH, Autonomous Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH, Autonomous Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083047722"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":287.1529,"has_fulltext":false,"cited_by_count":377,"citation_normalized_percentile":{"value":0.99979496,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4304","last_page":"4311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9993000030517578,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/intrinsics","display_name":"Intrinsics","score":0.9090434312820435},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8717790842056274},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.666137158870697},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6572134494781494},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6238993406295776},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5740280151367188},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4950536787509918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4649573266506195},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.44242334365844727},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4235379099845886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18653228878974915},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0800800621509552}],"concepts":[{"id":"https://openalex.org/C2908650547","wikidata":"https://www.wikidata.org/wiki/Q20999234","display_name":"Intrinsics","level":2,"score":0.9090434312820435},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8717790842056274},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.666137158870697},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6572134494781494},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6238993406295776},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5740280151367188},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4950536787509918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4649573266506195},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.44242334365844727},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4235379099845886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18653228878974915},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0800800621509552},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487628","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W213065526","https://openalex.org/W1498041548","https://openalex.org/W1499655155","https://openalex.org/W1670818045","https://openalex.org/W1745126362","https://openalex.org/W1982852503","https://openalex.org/W1998058414","https://openalex.org/W2003478444","https://openalex.org/W2006169361","https://openalex.org/W2024676408","https://openalex.org/W2041767515","https://openalex.org/W2043347164","https://openalex.org/W2061176333","https://openalex.org/W2086325065","https://openalex.org/W2089978792","https://openalex.org/W2102435655","https://openalex.org/W2111535872","https://openalex.org/W2114084853","https://openalex.org/W2138566468","https://openalex.org/W2140924050","https://openalex.org/W2341165584","https://openalex.org/W4301014524","https://openalex.org/W6608582082","https://openalex.org/W6637748465","https://openalex.org/W6704244345"],"related_works":["https://openalex.org/W2992410632","https://openalex.org/W2025756212","https://openalex.org/W1967422967","https://openalex.org/W2029881158","https://openalex.org/W2768717251","https://openalex.org/W3196140453","https://openalex.org/W3044242125","https://openalex.org/W2037990170","https://openalex.org/W2382856674","https://openalex.org/W2768468910"],"abstract_inverted_index":{"An":[0],"increasing":[1],"number":[2],"of":[3,21,31,104,116,123],"robotic":[4],"systems":[5],"feature":[6],"multiple":[7,78],"inertial":[8],"measurement":[9],"units":[10],"(IMUs).":[11],"Due":[12],"to":[13,18,65,97,133],"competing":[14],"objectives-either":[15],"desired":[16],"vicinity":[17],"the":[19,61,86,95,111],"center":[20],"gravity":[22],"when":[23,33,60],"used":[24],"in":[25,35,80],"controls,":[26],"or":[27],"an":[28,40],"unobstructed":[29],"field":[30],"view":[32],"integrated":[34],"a":[36,54,73,81,129],"sensor":[37,42],"setup":[38],"with":[39],"exteroceptive":[41],"for":[43,75],"ego-motion":[44],"estimation-individual":[45],"IMUs":[46,79],"are":[47],"often":[48],"mounted":[49],"at":[50],"considerable":[51],"distance.":[52],"As":[53],"result,":[55],"they":[56],"sense":[57],"different":[58],"accelerations":[59],"platform":[62],"is":[63,114],"subjected":[64],"rotational":[66],"motions.":[67],"In":[68],"this":[69],"work,":[70],"we":[71],"derive":[72],"method":[74],"spatially":[76],"calibrating":[77],"single":[82],"estimator":[83,113],"based":[84],"on":[85],"open-source":[87],"camera/IMU":[88],"calibration":[89,103],"toolbox":[90,96],"kalibr.":[91],"We":[92],"further":[93],"extend":[94],"determine":[98],"IMU":[99,132],"intrinsics,":[100],"enabling":[101],"accurate":[102],"low-cost":[105],"IMUs.":[106],"The":[107],"results":[108],"suggest":[109],"that":[110],"extended":[112],"capable":[115],"precisely":[117],"determining":[118],"these":[119],"intrinsics":[120],"and":[121],"even":[122],"localizing":[124],"individual":[125],"accelerometer":[126],"axes":[127],"inside":[128],"commercial":[130],"grade":[131],"millimeter":[134],"precision.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":60},{"year":2024,"cited_by_count":61},{"year":2023,"cited_by_count":62},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":53},{"year":2020,"cited_by_count":36},{"year":2019,"cited_by_count":33},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
