{"id":"https://openalex.org/W2564162799","doi":"https://doi.org/10.1109/iros.2016.7759389","title":"Active planning based extrinsic calibration of exteroceptive sensors in unknown environments","display_name":"Active planning based extrinsic calibration of exteroceptive sensors in unknown environments","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2564162799","doi":"https://doi.org/10.1109/iros.2016.7759389","mag":"2564162799"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5045269444","display_name":"Varun Murali","orcid":"https://orcid.org/0000-0001-8522-3569"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Varun Murali","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091203572","display_name":"Carlos Nieto","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Nieto","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103250144","display_name":"Siddharth Choudhary","orcid":"https://orcid.org/0000-0001-5329-1858"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Choudhary","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066237365","display_name":"Henrik I. Christensen","orcid":"https://orcid.org/0000-0002-7465-7502"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henrik I. Christensen","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.06279599,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2498","last_page":"2505"},"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.8495055437088013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7311680316925049},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6259379386901855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6035766005516052},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.6026082038879395},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5790594220161438},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5650505423545837},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48780277371406555},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.387166827917099},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.37434813380241394},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32316917181015015},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09771755337715149}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.8495055437088013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7311680316925049},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6259379386901855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6035766005516052},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.6026082038879395},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5790594220161438},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5650505423545837},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48780277371406555},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.387166827917099},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.37434813380241394},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32316917181015015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09771755337715149},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":26,"referenced_works":["https://openalex.org/W1499148156","https://openalex.org/W1836111396","https://openalex.org/W1977034420","https://openalex.org/W1989760884","https://openalex.org/W2026425544","https://openalex.org/W2030405894","https://openalex.org/W2064169939","https://openalex.org/W2095614026","https://openalex.org/W2098300286","https://openalex.org/W2104209067","https://openalex.org/W2116046858","https://openalex.org/W2116672260","https://openalex.org/W2133505209","https://openalex.org/W2140891158","https://openalex.org/W2148420507","https://openalex.org/W2150811685","https://openalex.org/W2156257921","https://openalex.org/W2157641950","https://openalex.org/W2164429173","https://openalex.org/W2167340365","https://openalex.org/W2167667767","https://openalex.org/W2246782745","https://openalex.org/W2295149141","https://openalex.org/W3143504974","https://openalex.org/W6680028861","https://openalex.org/W6691189842"],"related_works":["https://openalex.org/W2004247173","https://openalex.org/W2139310805","https://openalex.org/W4205370188","https://openalex.org/W2157600580","https://openalex.org/W2320707797","https://openalex.org/W2142955042","https://openalex.org/W2158374453","https://openalex.org/W2076290979","https://openalex.org/W2771857660","https://openalex.org/W2792156965"],"abstract_inverted_index":{"Existing":[0],"Simultaneous":[1],"Localization":[2],"and":[3,32,92,113,140],"Mapping":[4],"systems":[5],"require":[6],"an":[7,55],"extensive":[8],"manual":[9],"pre-calibration":[10],"process.":[11],"Non-manual":[12],"calibration":[13,43,69,74,94,130],"procedures":[14],"use":[15],"manipulators":[16],"to":[17,23,50,100,105,128],"create":[18],"known":[19,42],"patterns":[20],"in":[21,80,111],"order":[22],"estimate":[24],"the":[25,51,64,67,87,93,102,108,125,133,142,149],"unknown":[26,83],"calibration.":[27,150],"Calibration":[28,76],"is":[29,77,135],"often":[30],"time-consuming":[31],"involves":[33],"humans":[34],"performing":[35],"repetitive":[36],"tasks":[37,139],"such":[38],"as":[39],"aligning":[40],"a":[41,59,71,81,120],"target":[44],"at":[45],"different":[46],"poses":[47],"with":[48],"respect":[49],"sensor.":[52],"We":[53,96,116],"propose":[54],"algorithm":[56],"that":[57,118],"plans":[58],"trajectory":[60],"which":[61],"actively":[62],"reduces":[63],"uncertainty":[65],"of":[66,144],"robot's":[68],"given":[70],"rough":[72],"initial":[73],"estimate.":[75],"performed":[78],"autonomously":[79,106],"previously":[82],"environment":[84],"by":[85],"maintaining":[86],"belief":[88],"over":[89],"landmarks,":[90],"poses,":[91],"parameters.":[95],"present":[97],"experimental":[98],"results":[99],"demonstrate":[101],"approach's":[103],"ability":[104],"calibrate":[107],"exteroceptive":[109],"sensor":[110],"simulated":[112],"real":[114],"environments.":[115],"show":[117],"even":[119],"greedy":[121],"approach":[122],"can":[123],"reduce":[124],"effort":[126],"needed":[127],"perform":[129],"every":[131],"time":[132],"robot":[134],"reconfigured":[136],"for":[137],"autonomous":[138],"mitigates":[141],"possibility":[143],"human":[145],"error":[146],"added":[147],"into":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}