{"id":"https://openalex.org/W2883228675","doi":"https://doi.org/10.1109/icra.2018.8462920","title":"Encoderless Gimbal Calibration of Dynamic Multi-Camera Clusters","display_name":"Encoderless Gimbal Calibration of Dynamic Multi-Camera Clusters","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2883228675","doi":"https://doi.org/10.1109/icra.2018.8462920","mag":"2883228675"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8462920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5062502852","display_name":"Christopher L. Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Christopher L. Choi","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013421361","display_name":"Jason Rebello","orcid":"https://orcid.org/0000-0002-3735-3868"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Rebello","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008886605","display_name":"Leonid Koppel","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Leonid Koppel","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043249831","display_name":"Pranav Ganti","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pranav Ganti","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059680425","display_name":"Arun Das","orcid":"https://orcid.org/0000-0001-7512-0523"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Arun Das","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024242059","display_name":"Steven L. Waslander","orcid":"https://orcid.org/0000-0003-4217-4415"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steven L. Waslander","raw_affiliation_strings":["Mechanical and Mechatronics Engineering, University of Waterloo"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering, University of Waterloo","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5062502852"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":12.1334,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.97900698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2126","last_page":"2133"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9986000061035156,"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/gimbal","display_name":"Gimbal","score":0.9903227090835571},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7506203651428223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6402324438095093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5110862851142883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4334600865840912},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.126958429813385},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12526863813400269},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11891800165176392}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.9903227090835571},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7506203651428223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6402324438095093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5110862851142883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4334600865840912},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.126958429813385},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12526863813400269},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11891800165176392},{"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.2018.8462920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.46000000834465027,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W1131710387","https://openalex.org/W1854444597","https://openalex.org/W1981141114","https://openalex.org/W1998058414","https://openalex.org/W2013627373","https://openalex.org/W2015147201","https://openalex.org/W2026180345","https://openalex.org/W2043456807","https://openalex.org/W2049750053","https://openalex.org/W2085261163","https://openalex.org/W2091790851","https://openalex.org/W2094801294","https://openalex.org/W2096479789","https://openalex.org/W2104209067","https://openalex.org/W2107815819","https://openalex.org/W2117668073","https://openalex.org/W2136707972","https://openalex.org/W2148498215","https://openalex.org/W2166402627","https://openalex.org/W2546266182","https://openalex.org/W2562004912","https://openalex.org/W2564647408","https://openalex.org/W2609024616","https://openalex.org/W2734437363","https://openalex.org/W2772348970","https://openalex.org/W2772783460","https://openalex.org/W4231002530","https://openalex.org/W6654016660","https://openalex.org/W6661527583","https://openalex.org/W6674781627","https://openalex.org/W6680083524","https://openalex.org/W6682103201","https://openalex.org/W6683065634","https://openalex.org/W6730543584"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Dynamic":[0],"Camera":[1],"Clusters":[2],"(DCCs)":[3],"are":[4,12,54],"multi-camera":[5,183],"systems":[6],"where":[7],"one":[8],"or":[9],"more":[10],"cameras":[11],"mounted":[13,145],"on":[14,27,59,136,146],"actuated":[15],"mechanisms":[16],"such":[17],"as":[18,83,85],"a":[19,101,137,142,147,180],"gimbal.":[20],"Existing":[21],"methods":[22],"for":[23,70],"DCC":[24,71,139],"calibration":[25,72,128],"rely":[26],"joint":[28,51,88,120,169],"angle":[29,52,170],"measurements":[30,53],"to":[31,113,179],"resolve":[32],"the":[33,37,76,80,86,93,108,119,152,156,161],"time-varying":[34],"transformation":[35,81],"between":[36],"dynamic":[38],"and":[39,106,122,135,165],"static":[40,182],"camera.":[41],"This":[42],"information":[43],"is":[44,130,177],"usually":[45],"provided":[46],"by":[47],"motor":[48],"encoders,":[49],"however,":[50],"not":[55],"always":[56],"readily":[57],"available":[58],"off-the-shelf":[60],"mechanisms.":[61],"In":[62],"this":[63],"paper,":[64],"we":[65,150],"present":[66],"an":[67,96],"encoderless":[68,97],"approach":[69,129],"which":[73],"simultaneously":[74],"estimates":[75],"kinematic":[77],"parameters":[78],"of":[79,95,118,141,155],"chain":[82],"well":[84],"unknown":[87],"angles.":[89],"We":[90],"also":[91],"demonstrate":[92,166],"integration":[94],"gimbal":[98,144],"mechanism":[99,158],"with":[100],"state-of-the":[102],"art":[103],"VIO":[104,163],"algorithm,":[105],"show":[107,151],"extensions":[109],"required":[110],"in":[111,133],"order":[112],"perform":[114],"simultaneous":[115],"online":[116,168],"estimation":[117,171],"angles":[121],"vehicle":[123],"localization":[124,174],"state.":[125],"The":[126],"proposed":[127],"validated":[131],"both":[132],"simulation":[134],"physical":[138],"composed":[140],"2-DOF":[143],"UAV.":[148],"Finally,":[149],"experimental":[153],"results":[154],"calibrated":[157],"integrated":[159],"into":[160],"OKVIS":[162],"package,":[164],"successful":[167],"while":[172],"maintaining":[173],"accuracy":[175],"that":[176],"comparable":[178],"standard":[181],"configuration.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}