{"id":"https://openalex.org/W2216169164","doi":"https://doi.org/10.1109/iros.2015.7353887","title":"Exploiting known unknowns: Scene induced cross-calibration of lidar-stereo systems","display_name":"Exploiting known unknowns: Scene induced cross-calibration of lidar-stereo systems","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2216169164","doi":"https://doi.org/10.1109/iros.2015.7353887","mag":"2216169164"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353887","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/A5113706212","display_name":"Terry Scott","orcid":null},"institutions":[{"id":"https://openalex.org/I166722992","display_name":"University of Massachusetts Chan Medical School","ror":"https://ror.org/0464eyp60","country_code":"US","type":"education","lineage":["https://openalex.org/I166722992"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Terry Scott","raw_affiliation_strings":["Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA","institution_ids":["https://openalex.org/I166722992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048636339","display_name":"Akshay A. Morye","orcid":null},"institutions":[{"id":"https://openalex.org/I39327780","display_name":"iMinds","ror":"https://ror.org/03baec336","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I39327780"]},{"id":"https://openalex.org/I149213910","display_name":"University of Antwerp","ror":"https://ror.org/008x57b05","country_code":"BE","type":"education","lineage":["https://openalex.org/I149213910"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Akshay A. Morye","raw_affiliation_strings":["University of Antwerp, Iminds-Vision Lab, Antwerp, Belgium"],"affiliations":[{"raw_affiliation_string":"University of Antwerp, Iminds-Vision Lab, Antwerp, Belgium","institution_ids":["https://openalex.org/I39327780","https://openalex.org/I149213910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073410897","display_name":"Pedro Pini\u00e9s","orcid":null},"institutions":[{"id":"https://openalex.org/I166722992","display_name":"University of Massachusetts Chan Medical School","ror":"https://ror.org/0464eyp60","country_code":"US","type":"education","lineage":["https://openalex.org/I166722992"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pedro Pinies","raw_affiliation_strings":["Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA","institution_ids":["https://openalex.org/I166722992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076707017","display_name":"Lina Mar\u00eda Paz","orcid":null},"institutions":[{"id":"https://openalex.org/I166722992","display_name":"University of Massachusetts Chan Medical School","ror":"https://ror.org/0464eyp60","country_code":"US","type":"education","lineage":["https://openalex.org/I166722992"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lina M. Paz","raw_affiliation_strings":["Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Division of Nuclear Medicine, UMass Medical School, Worcester, MA, USA","institution_ids":["https://openalex.org/I166722992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027013897","display_name":"Ingmar Posner","orcid":"https://orcid.org/0000-0001-6270-700X"},"institutions":[{"id":"https://openalex.org/I2802629803","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802629803","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ingmar Posner","raw_affiliation_strings":["Innovate UK, Swindon, Swindon, GB"],"affiliations":[{"raw_affiliation_string":"Innovate UK, Swindon, Swindon, GB","institution_ids":["https://openalex.org/I2802629803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055299977","display_name":"Paul Newman","orcid":"https://orcid.org/0000-0001-6562-8454"},"institutions":[{"id":"https://openalex.org/I2802629803","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802629803","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Newman","raw_affiliation_strings":["Innovate UK, Swindon, Swindon, GB"],"affiliations":[{"raw_affiliation_string":"Innovate UK, Swindon, Swindon, GB","institution_ids":["https://openalex.org/I2802629803"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113706212"],"corresponding_institution_ids":["https://openalex.org/I166722992"],"apc_list":null,"apc_paid":null,"fwci":1.1992,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8521457,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3647","last_page":"3653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9979000091552734,"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":0.7237808704376221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7008225917816162},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6911807060241699},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6725791692733765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6045829057693481},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5078421235084534},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.49755194783210754},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49692538380622864},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2680511474609375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21003228425979614},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0808919370174408}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7237808704376221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7008225917816162},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6911807060241699},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6725791692733765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6045829057693481},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5078421235084534},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.49755194783210754},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49692538380622864},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2680511474609375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21003228425979614},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0808919370174408},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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.2015.7353887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353887","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/16","score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G373928678","display_name":null,"funder_award_id":"EP/J012017/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4963570608","display_name":null,"funder_award_id":"EP/J013501/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W59446624","https://openalex.org/W1520757484","https://openalex.org/W1521573242","https://openalex.org/W1577841048","https://openalex.org/W1771769277","https://openalex.org/W1864210360","https://openalex.org/W1985391398","https://openalex.org/W1990398405","https://openalex.org/W2036117503","https://openalex.org/W2064684591","https://openalex.org/W2111365302","https://openalex.org/W2116672260","https://openalex.org/W2121806728","https://openalex.org/W2124651605","https://openalex.org/W2133505209","https://openalex.org/W2134237713","https://openalex.org/W2148782188","https://openalex.org/W2158273027","https://openalex.org/W2159957588","https://openalex.org/W2213474856","https://openalex.org/W2246782745","https://openalex.org/W2274527110","https://openalex.org/W2295149141","https://openalex.org/W2406067508","https://openalex.org/W2758107681","https://openalex.org/W3143504974","https://openalex.org/W6602363656","https://openalex.org/W6631064309","https://openalex.org/W6666475387","https://openalex.org/W6676399903","https://openalex.org/W6680028861","https://openalex.org/W6691189842"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W2949709491","https://openalex.org/W307265996","https://openalex.org/W128884630","https://openalex.org/W2905493506","https://openalex.org/W1992486622","https://openalex.org/W2389564093"],"abstract_inverted_index":{"We":[0,84],"propose":[1],"an":[2],"automatic,":[3],"targetless,":[4],"data-driven,":[5],"extrinsic":[6],"calibration":[7,19],"method":[8],"to":[9],"calibrate":[10],"push-broom":[11],"2D":[12],"lidars":[13],"with":[14,35,97],"a":[15,36,75,93],"multi-camera":[16,56],"system.":[17],"The":[18,39,72],"problem":[20],"is":[21],"decoupled":[22],"into":[23],"alternating":[24],"optimisers":[25],"over":[26],"two":[27],"hierarchical":[28],"levels,":[29],"where":[30],"both":[31,69],"levels":[32],"are":[33],"linked":[34],"penalty":[37],"term.":[38],"lower-level":[40,82],"optimises":[41],"the":[42,49,55,60,81,86,89],"six":[43],"degrees-of-freedom":[44],"(DoF)":[45],"rigid-body":[46],"transforms":[47],"between":[48,64,80],"lidar":[50],"and":[51,91],"each":[52],"camera":[53],"of":[54],"unit":[57],"by":[58],"minimising":[59],"Normalised":[61],"Information":[62],"Distance":[63],"intensity":[65],"measurements":[66],"obtained":[67],"from":[68],"sensor":[70],"modalities.":[71],"upper-level":[73],"minimises":[74],"nonlinear":[76],"least":[77],"squares":[78],"error":[79],"solutions.":[83],"describe":[85],"theory,":[87],"implement":[88],"method,":[90],"provide":[92],"detailed":[94],"performance":[95],"analysis":[96],"experiments":[98],"on":[99],"real-world":[100],"data.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}