{"id":"https://openalex.org/W4383066190","doi":"https://doi.org/10.1109/icra48891.2023.10160758","title":"A Graph-Based Optimization Framework for Hand-Eye Calibration for Multi-Camera Setups","display_name":"A Graph-Based Optimization Framework for Hand-Eye Calibration for Multi-Camera Setups","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066190","doi":"https://doi.org/10.1109/icra48891.2023.10160758"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160758","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":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11577/3495600","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022028054","display_name":"Daniele Evangelista","orcid":"https://orcid.org/0000-0001-8972-9145"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Daniele Evangelista","raw_affiliation_strings":["University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041937742","display_name":"Emilio Olivastri","orcid":"https://orcid.org/0000-0002-0003-5559"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emilio Olivastri","raw_affiliation_strings":["University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068526202","display_name":"Davide Allegro","orcid":"https://orcid.org/0009-0008-1180-9290"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Allegro","raw_affiliation_strings":["University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053450097","display_name":"Emanuele Menegatti","orcid":"https://orcid.org/0000-0001-5794-9979"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Menegatti","raw_affiliation_strings":["University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021255100","display_name":"Alberto Pretto","orcid":"https://orcid.org/0000-0003-1920-2887"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Pretto","raw_affiliation_strings":["University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Padova,Department of Information Engineering (DEI),Padova,Italy,35131","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022028054"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":4.0106,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93922727,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11474","last_page":"11480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9894999861717224,"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/computer-science","display_name":"Computer science","score":0.7410182356834412},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7020159959793091},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6524442434310913},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.625706136226654},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5444428324699402},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.5392834544181824},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5345650315284729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5128243565559387},{"id":"https://openalex.org/keywords/smart-camera","display_name":"Smart camera","score":0.5082818865776062},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4556044936180115},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4478422999382019},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.425054669380188},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4216953217983246},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25495654344558716},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1860232949256897},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15108776092529297},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09810104966163635}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7410182356834412},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7020159959793091},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6524442434310913},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.625706136226654},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5444428324699402},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.5392834544181824},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5345650315284729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5128243565559387},{"id":"https://openalex.org/C161334170","wikidata":"https://www.wikidata.org/wiki/Q1428778","display_name":"Smart camera","level":2,"score":0.5082818865776062},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4556044936180115},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4478422999382019},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.425054669380188},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4216953217983246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25495654344558716},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1860232949256897},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15108776092529297},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09810104966163635},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160758","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"},{"id":"pmh:oai:www.research.unipd.it:11577/3495600","is_oa":true,"landing_page_url":"https://hdl.handle.net/11577/3495600","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.research.unipd.it:11577/3495600","is_oa":true,"landing_page_url":"https://hdl.handle.net/11577/3495600","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1495976112","https://openalex.org/W1968129666","https://openalex.org/W2015144733","https://openalex.org/W2021599527","https://openalex.org/W2072884984","https://openalex.org/W2080823437","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2105085370","https://openalex.org/W2107105904","https://openalex.org/W2113735881","https://openalex.org/W2123446940","https://openalex.org/W2127220039","https://openalex.org/W2127594538","https://openalex.org/W2150382645","https://openalex.org/W2153054365","https://openalex.org/W2158288882","https://openalex.org/W2236623899","https://openalex.org/W2525173009","https://openalex.org/W2650354119","https://openalex.org/W2810519341","https://openalex.org/W2901630465","https://openalex.org/W2909896524","https://openalex.org/W3092503209","https://openalex.org/W3101196391","https://openalex.org/W3206733873","https://openalex.org/W3215912778","https://openalex.org/W4221138521","https://openalex.org/W4312995172","https://openalex.org/W6683604425","https://openalex.org/W6684721317"],"related_works":["https://openalex.org/W2897941598","https://openalex.org/W1593370737","https://openalex.org/W90406836","https://openalex.org/W2134428839","https://openalex.org/W2107854735","https://openalex.org/W2380821799","https://openalex.org/W2059746754","https://openalex.org/W2120939361","https://openalex.org/W2092834444","https://openalex.org/W1511610490"],"abstract_inverted_index":{"Hand-eye":[0],"calibration":[1,35,64,94,134],"is":[2,36,45,48,140],"the":[3,7,15,25,51,56,60,72,92,109,145],"problem":[4,57,61,95],"of":[5,17,28,55,62,71,160],"estimating":[6],"spatial":[8],"transformation":[9],"between":[10],"a":[11,18,39,88,98,137],"reference":[12,26],"frame,":[13],"usually":[14],"base":[16],"robot":[19],"arm":[20],"or":[21,30],"its":[22],"gripper,":[23],"and":[24,75],"frame":[27],"one":[29,115],"multiple":[31],"cameras.":[32],"Generally,":[33],"this":[34,81,84,155],"solved":[37],"as":[38,68],"non-linear":[40],"optimization":[41,163],"problem,":[42],"what":[43],"instead":[44],"rarely":[46],"done":[47],"to":[49,91,111],"exploit":[50],"underlying":[52],"graph":[53],"structure":[54],"itself.":[58],"Actually,":[59],"hand-eye":[63,93,133],"can":[65],"be":[66],"seen":[67],"an":[69,157],"instance":[70],"Simultaneous":[73],"Localization":[74],"Mapping":[76],"(SLAM)":[77],"problem.":[78],"Inspired":[79],"by":[80,107,118],"fact,":[82],"in":[83,102,129],"work":[85],"we":[86],"present":[87],"pose-graph":[89],"approach":[90,125,147],"that":[96],"extends":[97],"recent":[99],"state-of-the-art":[100],"solution":[101,110],"two":[103],"different":[104],"ways:":[105],"i)":[106],"formulating":[108],"eye-on-base":[112],"setups":[113],"with":[114,154],"camera;":[116],"ii)":[117],"covering":[119],"multi-camera":[120,166],"robotic":[121],"setups.":[122,167],"The":[123],"proposed":[124,146],"has":[126],"been":[127],"validated":[128],"simulation":[130],"against":[131],"standard":[132],"methods.":[135,151],"Moreover,":[136],"real":[138],"application":[139],"shown.":[141],"In":[142],"both":[143],"scenarios,":[144],"overcomes":[148],"all":[149],"alternative":[150],"We":[152],"release":[153],"paper":[156],"open-source":[158],"implementation":[159],"our":[161],"graph-based":[162],"framework":[164],"for":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}