{"id":"https://openalex.org/W4383097439","doi":"https://doi.org/10.1109/icra48891.2023.10160691","title":"General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox","display_name":"General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097439","doi":"https://doi.org/10.1109/icra48891.2023.10160691"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5038928126","display_name":"Kenji Koide","orcid":"https://orcid.org/0000-0001-5361-1428"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Koide","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039972852","display_name":"Shuji Oishi","orcid":"https://orcid.org/0000-0002-4872-9699"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Oishi","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024900204","display_name":"Masashi Yokozuka","orcid":"https://orcid.org/0000-0001-5716-205X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Yokozuka","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078435846","display_name":"Atsuhiko Banno","orcid":"https://orcid.org/0000-0002-6394-5947"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuhiko Banno","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Department of Information Technology and Human Factors,Tsukuba,Ibaraki,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":82.0623,"has_fulltext":false,"cited_by_count":112,"citation_normalized_percentile":{"value":0.99952563,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11301","last_page":"11307"},"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":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9997000098228455,"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/lidar","display_name":"Lidar","score":0.8715919256210327},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7411421537399292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7373164892196655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7261161804199219},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.574284017086029},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.5537925958633423},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5487762093544006},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.5113908648490906},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.45443835854530334},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.4330313205718994},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.42393189668655396},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.4223266541957855},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4085387587547302},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14208385348320007},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12759560346603394},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11414220929145813},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.11097964644432068}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8715919256210327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7411421537399292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7373164892196655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7261161804199219},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.574284017086029},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.5537925958633423},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5487762093544006},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.5113908648490906},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.45443835854530334},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.4330313205718994},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.42393189668655396},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.4223266541957855},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4085387587547302},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14208385348320007},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12759560346603394},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11414220929145813},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.11097964644432068},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/17","score":0.4399999976158142,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W36923225","https://openalex.org/W1003976089","https://openalex.org/W2078150718","https://openalex.org/W2100893637","https://openalex.org/W2111365302","https://openalex.org/W2128019145","https://openalex.org/W2133505209","https://openalex.org/W2150382645","https://openalex.org/W2153504150","https://openalex.org/W2217105717","https://openalex.org/W2909816247","https://openalex.org/W2933190127","https://openalex.org/W2963793227","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3120910864","https://openalex.org/W3136025880","https://openalex.org/W3145547920","https://openalex.org/W3183685035","https://openalex.org/W3203066970","https://openalex.org/W3205078851","https://openalex.org/W3209216267","https://openalex.org/W4285142571","https://openalex.org/W4285150423","https://openalex.org/W4292544413","https://openalex.org/W6680028861","https://openalex.org/W6770944320"],"related_works":["https://openalex.org/W2785097492","https://openalex.org/W2118427684","https://openalex.org/W2052984831","https://openalex.org/W2378222798","https://openalex.org/W2061162617","https://openalex.org/W2391933270","https://openalex.org/W227461850","https://openalex.org/W2102583748","https://openalex.org/W2188893856","https://openalex.org/W2132270137"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"open":[4],"source":[5],"LiDAR-camera":[6,59,74],"calibration":[7,29,91,121,139,149],"toolbox":[8,119],"that":[9,116],"is":[10,32],"general":[11],"to":[12,47],"LiDAR":[13,23,52,101],"and":[14,24,31,53,56,104,127,131,133,136,141],"cam-era":[15],"projection":[16],"models,":[17],"requires":[18],"only":[19],"one":[20],"pairing":[21],"of":[22,122,125,145],"camera":[25,54],"data":[26,55,102],"without":[27],"a":[28,82,89],"target,":[30],"fully":[33],"automatic.":[34],"For":[35,88],"automatic":[36],"initial":[37,65],"guess":[38],"estimation,":[39],"we":[40,67,93],"employ":[41],"the":[42,58,64,69,78,117,146],"Super-Glue":[43],"image":[44],"matching":[45],"pipeline":[46],"find":[48],"2D-3D":[49,109],"correspondences":[50],"between":[51],"estimate":[57,71],"transformation":[60,70],"via":[61],"RANSAC.":[62],"Given":[63],"guess,":[66],"refine":[68],"with":[72],"direct":[73],"registration":[75],"based":[76],"on":[77],"normalized":[79],"information":[80],"distance,":[81],"mutual":[83],"information-based":[84],"cross-modal":[85],"distance":[86],"metric.":[87],"handy":[90],"process,":[92],"also":[94],"present":[95],"several":[96],"assistance":[97],"capabilities":[98],"(e.g.,":[99],"dynamic":[100],"integration":[103],"user":[105],"interface":[106],"for":[107],"making":[108],"correspondence":[110],"manually).":[111],"The":[112],"experimental":[113],"results":[114],"show":[115],"proposed":[118],"enables":[120],"any":[123],"combination":[124],"spinning":[126],"non-repetitive":[128],"scan":[129],"LiDARs":[130],"pinhole":[132],"omnidirectional":[134],"cameras,":[135],"shows":[137],"better":[138],"accuracy":[140],"robustness":[142],"than":[143],"those":[144],"state-of-the-art":[147],"edge-alignment-based":[148],"method.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":56},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":8}],"updated_date":"2026-07-04T07:58:01.006859","created_date":"2025-10-10T00:00:00"}