{"id":"https://openalex.org/W2771252932","doi":"https://doi.org/10.1109/iros.2017.8205952","title":"Extrinsic multi-sensor calibration for mobile robots using the Gauss-Helmert model","display_name":"Extrinsic multi-sensor calibration for mobile robots using the Gauss-Helmert model","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771252932","doi":"https://doi.org/10.1109/iros.2017.8205952","mag":"2771252932"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5100608030","display_name":"Kaihong Huang","orcid":"https://orcid.org/0000-0002-2424-8524"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Kaihong Huang","raw_affiliation_strings":["University of Bonn, Institute of Geodesy and Geoinformation, Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Institute of Geodesy and Geoinformation, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Institute of Geodesy and Geoinformation, Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Institute of Geodesy and Geoinformation, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100608030"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":3.8107,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.93286311,"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":"1490","last_page":"1496"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9883999824523926,"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/computer-science","display_name":"Computer science","score":0.6260969042778015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6115700006484985},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.602923572063446},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.599341094493866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.574752151966095},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.574663519859314},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5622323751449585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5335785746574402},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.5154274702072144},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.48680993914604187},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.46215492486953735},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4611833691596985},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.413106232881546},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4106605052947998},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23054665327072144},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11308491230010986}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6260969042778015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6115700006484985},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.602923572063446},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.599341094493866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.574752151966095},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.574663519859314},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5622323751449585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5335785746574402},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.5154274702072144},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.48680993914604187},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.46215492486953735},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4611833691596985},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.413106232881546},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4106605052947998},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23054665327072144},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11308491230010986},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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.2017.8205952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1495976112","https://openalex.org/W1575087183","https://openalex.org/W1584739644","https://openalex.org/W1982919123","https://openalex.org/W2046357695","https://openalex.org/W2048249748","https://openalex.org/W2085581165","https://openalex.org/W2093220968","https://openalex.org/W2101707625","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2127220039","https://openalex.org/W2148420507","https://openalex.org/W2153054365","https://openalex.org/W2157186802","https://openalex.org/W2415769418","https://openalex.org/W2528398598","https://openalex.org/W6683051767"],"related_works":["https://openalex.org/W2358906198","https://openalex.org/W1508899372","https://openalex.org/W2069836761","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W182453952","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2378346679"],"abstract_inverted_index":{"Most":[0],"state":[1],"estimation":[2,40,53],"procedures":[3],"in":[4,41],"mobile":[5],"robotics":[6],"require":[7],"information":[8],"about":[9],"the":[10,13,17,24,51,68,73,79,86,98,132,142,145],"locations":[11],"of":[12,36,135],"individual":[14],"sensors":[15],"on":[16,118],"platform.":[18],"In":[19],"this":[20,42],"paper,":[21],"we":[22],"study":[23],"motion-based":[25],"multi-sensor":[26,60],"extrinsic":[27,69,133],"calibration":[28,48],"problem":[29],"and":[30,109,115,138],"point":[31],"out":[32],"an":[33],"overlooked":[34],"defect":[35],"traditional":[37,91],"least":[38,92],"squares":[39,93],"context.":[43],"We":[44,111],"present":[45],"a":[46,57],"novel":[47],"approach":[49,64,101,114,126],"based-on":[50],"Gauss-Helmert":[52],"paradigm,":[54],"together":[55],"with":[56],"formulation":[58],"for":[59],"motion":[61,87],"constraint.":[62],"Our":[63],"estimates":[65],"not":[66],"only":[67,97],"parameters":[70],"but":[71],"also":[72],"pose":[74],"observation":[75],"errors,":[76],"thus":[77,105],"recovering":[78],"underlying":[80],"sensor":[81,137],"movements":[82],"that":[83,95,124],"exactly":[84],"fulfill":[85],"constraints.":[88],"Compared":[89],"to":[90,129],"approaches":[94],"estimate":[96],"parameters,":[99],"our":[100,113,125],"is":[102,106,127,148],"statistically":[103],"optimal,":[104],"more":[107],"accurate":[108],"robust.":[110],"implemented":[112],"tested":[116],"it":[117],"real":[119],"robot.":[120],"The":[121],"experiments":[122],"show":[123],"able":[128],"accurately":[130],"determine":[131],"configuration":[134],"each":[136],"can":[139],"largely":[140],"improve":[141],"accuracy":[143],"when":[144],"noise":[146],"level":[147],"high.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
