{"id":"https://openalex.org/W1995007844","doi":"https://doi.org/10.1109/iros.2013.6696518","title":"Sensor calibration with unknown correspondence: Solving AX=XB using Euclidean-group invariants","display_name":"Sensor calibration with unknown correspondence: Solving AX=XB using Euclidean-group invariants","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1995007844","doi":"https://doi.org/10.1109/iros.2013.6696518","mag":"1995007844"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061402933","display_name":"Martin Kendal Ackerman","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Kendal Ackerman","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Dept. of Mech. Eng. & Lab. for Comput. Sensing & Robot., Johns Hopkins Univ., Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Lab. for Comput. Sensing & Robot., Johns Hopkins Univ., Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333538","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0002-9582-922X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexis Cheng","raw_affiliation_strings":["Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","Dept. of Comput. Sci. & Radiol., Johns Hopkins Univ., Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Comput. Sci. & Radiol., Johns Hopkins Univ., Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008890317","display_name":"Bernard Shiffman","orcid":"https://orcid.org/0000-0002-2395-0127"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bernard Shiffman","raw_affiliation_strings":["Department of Mathematics, Johns Hopkins University, Baltimore, MD, USA","Dept. of Math., Johns Hopkins Univ., Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Math., Johns Hopkins Univ., Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061883300","display_name":"Emad M. Boctor","orcid":"https://orcid.org/0000-0002-9536-6720"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emad Boctor","raw_affiliation_strings":["Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","Dept. of Comput. Sci. & Radiol., Johns Hopkins Univ., Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Radiology, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Comput. Sci. & Radiol., Johns Hopkins Univ., Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Dept. of Mech. Eng. & Lab. for Comput. Sensing & Robot., Johns Hopkins Univ., Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Lab. for Comput. Sensing & Robot., Johns Hopkins Univ., Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":4.2121,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.94594916,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1308","last_page":"1313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9861999750137329,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9861999750137329,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9509000182151794,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/invariant","display_name":"Invariant (physics)","score":0.6574877500534058},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5928357839584351},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5589935779571533},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.5044695138931274},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.4716845154762268},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46779686212539673},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4312419295310974},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.43083125352859497},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3839261829853058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3435959219932556},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.31050917506217957},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1663651466369629}],"concepts":[{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6574877500534058},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5928357839584351},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5589935779571533},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.5044695138931274},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.4716845154762268},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46779686212539673},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4312419295310974},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.43083125352859497},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3839261829853058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3435959219932556},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.31050917506217957},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1663651466369629},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":33,"referenced_works":["https://openalex.org/W1528125092","https://openalex.org/W1543154270","https://openalex.org/W1982890520","https://openalex.org/W1986706016","https://openalex.org/W1988874269","https://openalex.org/W1991600582","https://openalex.org/W2006169361","https://openalex.org/W2021599527","https://openalex.org/W2033778264","https://openalex.org/W2036565823","https://openalex.org/W2037751167","https://openalex.org/W2093220968","https://openalex.org/W2098259685","https://openalex.org/W2103213208","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2121349631","https://openalex.org/W2139442815","https://openalex.org/W2140278933","https://openalex.org/W2150382645","https://openalex.org/W2163496763","https://openalex.org/W2166402627","https://openalex.org/W2170715240","https://openalex.org/W3122956633","https://openalex.org/W4206807526","https://openalex.org/W4206816691","https://openalex.org/W4243280346","https://openalex.org/W4250215873","https://openalex.org/W6632595843","https://openalex.org/W6646192662","https://openalex.org/W6648276918","https://openalex.org/W6806907097","https://openalex.org/W6807379416"],"related_works":["https://openalex.org/W2116677773","https://openalex.org/W2155261584","https://openalex.org/W2584231425","https://openalex.org/W2150611273","https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4207086172","https://openalex.org/W2042919702","https://openalex.org/W4245343541"],"abstract_inverted_index":{"The":[0],"AX":[1,114],"=":[2,115],"XB":[3,116],"sensor":[4,40,105,159],"calibration":[5],"problem":[6,55],"must":[7],"often":[8],"be":[9,88,122,156],"solved":[10],"in":[11,20,69,76],"image":[12],"guided":[13],"therapy":[14],"systems,":[15],"such":[16],"as":[17],"those":[18],"used":[19],"robotic":[21],"surgical":[22],"procedures.":[23],"In":[24],"this":[25,54],"problem,":[26,117],"A,":[27],"X,":[28],"and":[29,36,42,67,85,90,107,135,143],"B":[30,37],"are":[31],"homogeneous":[32],"transformations":[33],"with":[34,158],"A":[35],"acquired":[38],"from":[39,146,161],"measurements":[41],"X":[43,59],"being":[44],"the":[45,79,83,95,104,113],"unknown.":[46],"It":[47],"has":[48],"been":[49],"known":[50],"for":[51,58,103,174],"decades":[52],"that":[53,164],"is":[56,73,97,110],"solvable":[57],"when":[60,124],"a":[61,70,172],"set":[62],"of":[63,133],"exactly":[64],"measured":[65],"A's":[66,134],"B's,":[68],"priori":[71],"correspondence,":[72],"given.":[74],"However,":[75],"practical":[77],"problems,":[78],"data":[80,160],"streams":[81],"containing":[82],"A'":[84],"B's":[86],"will":[87],"asynchronous":[89],"may":[91],"contain":[92,165],"gaps":[93],"(i.e.,":[94],"correspondence":[96],"unknown,":[98],"or":[99,167],"does":[100],"not":[101],"exist,":[102],"measurements)":[106],"temporal":[108],"registration":[109],"required.":[111],"For":[112],"an":[118],"exact":[119],"solution":[120,173],"can":[121,155],"found":[123],"four":[125],"independent":[126],"invariant":[127],"quantities":[128],"exist":[129],"between":[130],"two":[131],"pairs":[132],"B's.":[136],"We":[137,150],"formally":[138],"define":[139],"these":[140],"invariants,":[141],"reviewing":[142],"elaborating":[144],"results":[145],"classical":[147],"screw":[148],"theory.":[149],"then":[151],"illustrate":[152],"how":[153],"they":[154],"used,":[157],"multiple":[162],"sources":[163],"unknown":[166],"missing":[168],"correspondences,":[169],"to":[170],"provide":[171],"X.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}