{"id":"https://openalex.org/W3129293064","doi":"https://doi.org/10.1109/iros45743.2020.9341147","title":"CalibRCNN: Calibrating Camera and LiDAR by Recurrent Convolutional Neural Network and Geometric Constraints","display_name":"CalibRCNN: Calibrating Camera and LiDAR by Recurrent Convolutional Neural Network and Geometric Constraints","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129293064","doi":"https://doi.org/10.1109/iros45743.2020.9341147","mag":"3129293064"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://researchportal.port.ac.uk/portal/en/publications/calibrcnn(a901bae3-8f6e-49d3-89e2-1c503f95db11).html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069654649","display_name":"Jieying Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieying Shi","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007458023","display_name":"Ziheng Zhu","orcid":"https://orcid.org/0000-0001-7317-427X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziheng Zhu","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100434758","display_name":"Jianhua Zhang","orcid":"https://orcid.org/0000-0001-7844-6035"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072389245","display_name":"Ruyu Liu","orcid":"https://orcid.org/0000-0003-2130-9122"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruyu Liu","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395198","display_name":"Zhenhua Wang","orcid":"https://orcid.org/0000-0001-5473-1499"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Wang","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055627037","display_name":"Shengyong Chen","orcid":"https://orcid.org/0000-0002-6705-3831"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyong Chen","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085867312","display_name":"Honghai Liu","orcid":"https://orcid.org/0000-0002-2880-4698"},"institutions":[{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Honghai Liu","raw_affiliation_strings":["School of Computing, University of Portsmouth, Portsmouth, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, University of Portsmouth, Portsmouth, UK","institution_ids":["https://openalex.org/I63072094"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9047,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.93527895,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10197","last_page":"10202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9998000264167786,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7891829013824463},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7115094065666199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7079446911811829},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.686412513256073},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6585124731063843},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6176980137825012},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5963128805160522},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5825775265693665},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5332610011100769},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4993593692779541},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.46328654885292053},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4345494210720062},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36394599080085754},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.21759149432182312},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21699270606040955},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07366198301315308}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7891829013824463},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7115094065666199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7079446911811829},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.686412513256073},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6585124731063843},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6176980137825012},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5963128805160522},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5825775265693665},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5332610011100769},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4993593692779541},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.46328654885292053},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4345494210720062},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36394599080085754},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.21759149432182312},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21699270606040955},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07366198301315308},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:researchportal.port.ac.uk:publications/a901bae3-8f6e-49d3-89e2-1c503f95db11","is_oa":true,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85102413165&partnerID=8YFLogxK","pdf_url":"https://researchportal.port.ac.uk/portal/en/publications/calibrcnn(a901bae3-8f6e-49d3-89e2-1c503f95db11).html","source":{"id":"https://openalex.org/S4306401774","display_name":"Portsmouth Research Portal (University of Portsmouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63072094","host_organization_name":"University of Portsmouth","host_organization_lineage":["https://openalex.org/I63072094"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:researchportal.port.ac.uk:publications/a901bae3-8f6e-49d3-89e2-1c503f95db11","is_oa":true,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85102413165&partnerID=8YFLogxK","pdf_url":"https://researchportal.port.ac.uk/portal/en/publications/calibrcnn(a901bae3-8f6e-49d3-89e2-1c503f95db11).html","source":{"id":"https://openalex.org/S4306401774","display_name":"Portsmouth Research Portal (University of Portsmouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63072094","host_organization_name":"University of Portsmouth","host_organization_lineage":["https://openalex.org/I63072094"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3129293064.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1920437460","https://openalex.org/W1990398405","https://openalex.org/W2096322756","https://openalex.org/W2124386111","https://openalex.org/W2194775991","https://openalex.org/W2348664362","https://openalex.org/W2399453552","https://openalex.org/W2598706937","https://openalex.org/W2609717538","https://openalex.org/W2609883120","https://openalex.org/W2770841999","https://openalex.org/W2888422218","https://openalex.org/W2897713584","https://openalex.org/W2899709424","https://openalex.org/W2908599206","https://openalex.org/W2909816247","https://openalex.org/W2963270286","https://openalex.org/W2963591054","https://openalex.org/W2963721253","https://openalex.org/W2964121744","https://openalex.org/W2967040347","https://openalex.org/W2967321219","https://openalex.org/W3003175783","https://openalex.org/W3101587859","https://openalex.org/W3106440972","https://openalex.org/W6631190155"],"related_works":["https://openalex.org/W3204261624","https://openalex.org/W4293067784","https://openalex.org/W2524507886","https://openalex.org/W1975994958","https://openalex.org/W2743237568","https://openalex.org/W2928723478","https://openalex.org/W2803347023","https://openalex.org/W3123462798","https://openalex.org/W4313294771","https://openalex.org/W2223719734"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"Calibration":[5],"Recurrent":[6],"Convolutional":[7],"Neural":[8],"Network":[9],"(CalibRCNN)":[10],"to":[11,42,71,95,113,115],"infer":[12],"a":[13,109],"6":[14],"degrees":[15],"of":[16,54,76,100],"freedom":[17],"(DOF)":[18],"rigid":[19],"body":[20],"transformation":[21,79],"between":[22,47,88],"3D":[23,48,123],"LiDAR":[24,124],"and":[25,51,63,92,121,125],"2D":[26,126],"camera.":[27],"Different":[28],"from":[29,133],"the":[30,39,44,60,68,73,77,86,97,104,134],"existing":[31],"methods,":[32],"our":[33,142],"3D-2D":[34],"CalibRCNN":[35,82,143],"not":[36],"only":[37],"uses":[38,59],"LSTM":[40],"network":[41],"extract":[43],"temporal":[45],"features":[46],"point":[49],"clouds":[50],"RGB":[52,93],"images":[53],"consecutive":[55],"frames,":[56],"but":[57],"also":[58],"geometric":[61],"loss":[62,65],"photometric":[64],"obtained":[66],"by":[67,148],"interframe":[69],"constraint":[70],"refine":[72],"calibration":[74,106,118],"accuracy":[75,147],"predicted":[78],"parameters.":[80],"The":[81],"aims":[83],"at":[84],"inferring":[85],"correspondence":[87],"projected":[89],"depth":[90],"image":[91,94],"learn":[96],"underlying":[98],"geometry":[99],"2D-3D":[101],"calibration.":[102],"Thus,":[103],"proposed":[105],"model":[107],"achieves":[108],"good":[110],"generalization":[111],"ability":[112],"adapt":[114],"unknown":[116],"initial":[117],"error":[119],"ranges,":[120],"other":[122,151],"camera":[127],"pairs":[128],"with":[129,150],"different":[130],"intrinsic":[131],"parameters":[132],"training":[135],"dataset.":[136],"Extensive":[137],"experiments":[138],"have":[139],"demonstrated":[140],"that":[141],"can":[144],"achieve":[145],"state-of-the-art":[146],"comparison":[149],"CNN":[152],"based":[153],"methods.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
