{"id":"https://openalex.org/W4285102653","doi":"https://doi.org/10.1109/icra46639.2022.9812062","title":"LB-L2L-Calib: Accurate and Robust Extrinsic Calibration for Multiple 3D LiDARs with Long Baseline and Large Viewpoint Difference","display_name":"LB-L2L-Calib: Accurate and Robust Extrinsic Calibration for Multiple 3D LiDARs with Long Baseline and Large Viewpoint Difference","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102653","doi":"https://doi.org/10.1109/icra46639.2022.9812062"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812062","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5100433181","display_name":"Jun Zhang","orcid":"https://orcid.org/0009-0008-9083-5795"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097409","display_name":"Qiyang Lyu","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qiyang Lyu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018102527","display_name":"Guohao Peng","orcid":"https://orcid.org/0000-0001-9967-4934"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guohao Peng","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773430","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-9094-4982"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103669958","display_name":"Qiao Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qiao Yan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100433181"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":4.1662,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96494276,"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":"926","last_page":"932"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9100065231323242},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7628252506256104},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.6694215536117554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6397178173065186},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6037139296531677},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.513237476348877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4636114537715912},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4116681218147278},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39326828718185425},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17847982048988342},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11678394675254822},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10619807243347168},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09254816174507141}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9100065231323242},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7628252506256104},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.6694215536117554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6397178173065186},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6037139296531677},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.513237476348877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4636114537715912},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4116681218147278},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39326828718185425},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17847982048988342},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11678394675254822},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10619807243347168},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09254816174507141},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812062","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":36,"referenced_works":["https://openalex.org/W44078798","https://openalex.org/W1567242735","https://openalex.org/W1975936088","https://openalex.org/W1990398405","https://openalex.org/W2049981393","https://openalex.org/W2075773877","https://openalex.org/W2127220039","https://openalex.org/W2224693261","https://openalex.org/W2518401284","https://openalex.org/W2761494487","https://openalex.org/W2772370425","https://openalex.org/W2789623482","https://openalex.org/W2808367323","https://openalex.org/W2908175687","https://openalex.org/W2909376995","https://openalex.org/W2909816247","https://openalex.org/W2964186846","https://openalex.org/W2965289624","https://openalex.org/W2967040347","https://openalex.org/W2971159190","https://openalex.org/W2990407400","https://openalex.org/W3000792239","https://openalex.org/W3001225245","https://openalex.org/W3003277412","https://openalex.org/W3006936513","https://openalex.org/W3089387037","https://openalex.org/W3090232188","https://openalex.org/W3090824333","https://openalex.org/W3106948566","https://openalex.org/W3120910864","https://openalex.org/W3128626154","https://openalex.org/W3132158893","https://openalex.org/W6644126650","https://openalex.org/W6746897692","https://openalex.org/W6752151526","https://openalex.org/W6773153131"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Multi-LiDAR":[0],"system":[1],"is":[2,33,171,195,205,219,238],"an":[3,58,118],"important":[4],"part":[5],"of":[6,72,78,89,158],"V2X":[7],"(Vehicle":[8],"to":[9,11,92,112,135,173],"Everything)":[10],"enhance":[12],"the":[13,21,31,36,73,76,79,87,98,104,145,156,159,177,214,230],"perception":[14],"information":[15,22],"for":[16,69,125,148],"unmanned":[17,59],"vehicles.":[18],"To":[19],"fuse":[20],"from":[23,180],"multiple":[24,48,149],"3D":[25],"LiDARs,":[26],"accurate":[27,119,207],"extrinsic":[28,122,137,191],"calibration":[29,39,123,146],"between":[30,103,235],"LiDARs":[32,49,95,105,150,237],"essential.":[34],"However,":[35],"existing":[37],"multi-LiDAR":[38,80,128],"methods":[40,63,74,91],"mainly":[41],"focus":[42],"on":[43,53],"short":[44],"baseline":[45,99,127],"scenarios,":[46],"where":[47,94],"are":[50,96],"closely":[51],"mounted":[52],"a":[54,66,142,181],"single":[55],"platform":[56],"(e.g.,":[57],"vehicle).":[60],"Besides,":[61],"most":[62],"typically":[64],"use":[65,141],"planar":[67],"target":[68,147],"calibration.":[70],"Some":[71],"require":[75],"motion":[77],"system.":[81],"The":[82],"above":[83],"conditions":[84],"severely":[85],"limit":[86],"application":[88],"these":[90,114],"V2X,":[93],"non-movable,":[97],"and":[100,120,166,175,199,208,216,223,232,242],"viewpoint":[101,153,233],"difference":[102,234],"can":[106],"be":[107],"very":[108],"large.":[109],"In":[110],"order":[111],"meet":[113],"challenges,":[115],"we":[116],"propose":[117],"robust":[121],"method":[124],"long":[126],"systems,":[129],"named":[130],"LB-L2L-Calib":[131,204],"(Large":[132],"Baseline":[133],"LiDAR":[134,136],"Calibration).":[138],"(1)":[139],"We":[140],"sphere":[143,164,167,178],"as":[144],"with":[151],"large":[152],"difference,":[154],"leveraging":[155],"viewpoint-invariance":[157],"sphere.":[160],"(2)":[161],"A":[162,190],"improved":[163],"detection":[165],"center":[168,179],"estimation":[169],"strategy":[170],"introduced":[172],"detect":[174],"extract":[176],"cluttered":[182],"point":[183],"cloud":[184],"in":[185],"large-scale":[186],"outdoor":[187],"scenario.":[188],"(3)":[189],"parameter":[192],"regression":[193],"scheme":[194],"introduced.":[196],"Both":[197],"simulation":[198],"real":[200],"experiments":[201],"demonstrate":[202],"that":[203,213],"highly":[206],"robust.":[209],"Quantitative":[210],"results":[211],"show":[212],"rotation":[215],"translation":[217],"error":[218],"less":[220],"than":[221,240],"0.01m":[222],"0.01\u00b0":[224],"(in":[225],"simulation,":[226],"Gauss":[227],"noise":[228],"0.03m,":[229],"distance":[231],"two":[236],"more":[239],"30m":[241],"90\u00b0).":[243]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}