{"id":"https://openalex.org/W2215781905","doi":"https://doi.org/10.1109/iros.2015.7353796","title":"Fast calibration of rotating and swivelling 3-D laser scanners exploiting measurement redundancies","display_name":"Fast calibration of rotating and swivelling 3-D laser scanners exploiting measurement redundancies","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2215781905","doi":"https://doi.org/10.1109/iros.2015.7353796","mag":"2215781905"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5033153281","display_name":"Jan Oberlander","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Oberlander","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025083754","display_name":"Lars Pfotzer","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lars Pfotzer","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Dillmann","raw_affiliation_strings":["Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.2611,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98771778,"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":"3038","last_page":"3044"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","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/point-cloud","display_name":"Point cloud","score":0.883563756942749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7125592231750488},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7116696834564209},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6323502063751221},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5651836395263672},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.5566365718841553},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.5233561396598816},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.47388404607772827},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.46349501609802246},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4342682361602783},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4167192280292511},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11265593767166138},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09096187353134155},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08807474374771118}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.883563756942749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7125592231750488},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7116696834564209},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6323502063751221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5651836395263672},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.5566365718841553},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.5233561396598816},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.47388404607772827},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.46349501609802246},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4342682361602783},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4167192280292511},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11265593767166138},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09096187353134155},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08807474374771118},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/iros.2015.7353796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W67011681","https://openalex.org/W99347399","https://openalex.org/W1896525902","https://openalex.org/W1974900073","https://openalex.org/W1985391398","https://openalex.org/W2016822520","https://openalex.org/W2049135383","https://openalex.org/W2065899349","https://openalex.org/W2068729686","https://openalex.org/W2085287976","https://openalex.org/W2122882636","https://openalex.org/W2126765661","https://openalex.org/W2153245297","https://openalex.org/W2217105717","https://openalex.org/W6604054646","https://openalex.org/W6678323213","https://openalex.org/W6688774849"],"related_works":["https://openalex.org/W2088131065","https://openalex.org/W2005998065","https://openalex.org/W897367340","https://openalex.org/W4323518558","https://openalex.org/W2001220299","https://openalex.org/W2286704396","https://openalex.org/W3196715007","https://openalex.org/W2366440988","https://openalex.org/W2358582870","https://openalex.org/W4293059742"],"abstract_inverted_index":{"New":[0],"sensor":[1,61],"systems,":[2],"efficient":[3],"planning":[4],"algorithms":[5],"and":[6,28,63,118,132,141,152],"increased":[7],"computational":[8],"power":[9],"have":[10],"led":[11],"to":[12,58,130],"a":[13,36,44,83,87,92,123,134],"growing":[14],"interest":[15],"in":[16],"high-resolution":[17],"3-D":[18,26,31,49,164],"data":[19,154],"for":[20,47,74],"challenging":[21],"applications":[22],"like":[23],"mobile":[24],"manipulation,":[25],"mapping":[27],"object":[29],"recognition.":[30],"laser":[32,41],"scanners":[33],"built":[34],"using":[35,81,122],"rotating":[37],"or":[38],"swivelling":[39],"2-D":[40,106],"scanner":[42],"are":[43,56,128],"widespread":[45],"technology":[46],"obtaining":[48],"point":[50,116,135,165],"clouds,":[51],"but":[52],"convenient":[53],"calibration":[54,146],"methods":[55],"needed":[57],"increase":[59],"the":[60,65,75,97,102,105,110,114,120,156],"precision":[62],"loosen":[64],"requirements":[66],"on":[67,144,150],"mechanical":[68],"tolerances.":[69],"We":[70],"present":[71],"an":[72],"approach":[73,160],"automatic":[76],"self-calibration":[77],"of":[78,86,96,104,113,158],"such":[79],"scanners,":[80],"only":[82],"single":[84],"scan":[85],"targetless":[88],"environment":[89],"recorded":[90,115],"over":[91],"complete":[93],"360\u00b0":[94],"rotation":[95],"external":[98],"motor":[99],"that":[100],"controls":[101],"motion":[103],"sensor.":[107],"By":[108],"exploiting":[109],"intrinsic":[111],"redundancies":[112],"clouds":[117,121],"decimating":[119],"voxel":[124],"grid":[125],"filter,":[126],"we":[127],"able":[129],"compute":[131],"optimize":[133],"cloud":[136],"quality":[137],"measure":[138],"very":[139],"quickly":[140],"without":[142],"relying":[143],"explicit":[145],"targets.":[147],"Our":[148],"results":[149],"simulated":[151],"real":[153],"show":[155],"effectiveness":[157],"our":[159],"by":[161],"creating":[162],"high-quality":[163],"clouds.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}