{"id":"https://openalex.org/W4312496418","doi":"https://doi.org/10.1109/iros47612.2022.9981482","title":"Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-camera Using an Orthogonal Trihedron","display_name":"Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-camera Using an Orthogonal Trihedron","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312496418","doi":"https://doi.org/10.1109/iros47612.2022.9981482"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981482","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5028681494","display_name":"Zhengbin Li","orcid":"https://orcid.org/0000-0002-5119-5181"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengbin Li","raw_affiliation_strings":["Tianjin University,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin,China","Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin,China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051464217","display_name":"Haiqing Dong","orcid":"https://orcid.org/0000-0001-6428-5904"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiqing Dong","raw_affiliation_strings":["AIIC of Midea Group (Shanghai) Co.,Ltd,Shanghai,China","AIIC of Midea Group (Shanghai) Co.,Ltd, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIIC of Midea Group (Shanghai) Co.,Ltd,Shanghai,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"AIIC of Midea Group (Shanghai) Co.,Ltd, Shanghai, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407529","display_name":"Dong Liu","orcid":"https://orcid.org/0000-0003-3988-7879"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Liu","raw_affiliation_strings":["AIIC of Midea Group (Shanghai) Co.,Ltd,Shanghai,China","AIIC of Midea Group (Shanghai) Co.,Ltd, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIIC of Midea Group (Shanghai) Co.,Ltd,Shanghai,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"AIIC of Midea Group (Shanghai) Co.,Ltd, Shanghai, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066589116","display_name":"Yabin Ding","orcid":"https://orcid.org/0000-0001-5853-7626"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yabin Ding","raw_affiliation_strings":["Tianjin University,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin,China","Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin,China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6264","last_page":"6269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7361719012260437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7014011740684509},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6699175834655762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6008678078651428},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5352656841278076},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.48285990953445435},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.46090447902679443},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43868470191955566},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.42204397916793823},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42193603515625},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.41893553733825684},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.41517484188079834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.415050745010376},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4109407067298889},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2634933292865753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1344885528087616},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07933977246284485}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7361719012260437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7014011740684509},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6699175834655762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6008678078651428},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5352656841278076},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.48285990953445435},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.46090447902679443},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43868470191955566},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.42204397916793823},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42193603515625},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.41893553733825684},{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.41517484188079834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.415050745010376},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4109407067298889},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2634933292865753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1344885528087616},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07933977246284485},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981482","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/7","score":0.4699999988079071,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2192856036","display_name":null,"funder_award_id":"91948301,51721003,51775376","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8432766256","display_name":null,"funder_award_id":"734272","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1977606239","https://openalex.org/W1984667320","https://openalex.org/W2020119569","https://openalex.org/W2049981393","https://openalex.org/W2085052797","https://openalex.org/W2103420503","https://openalex.org/W2133505209","https://openalex.org/W2142482451","https://openalex.org/W2155056756","https://openalex.org/W2156412592","https://openalex.org/W2214740890","https://openalex.org/W2293736412","https://openalex.org/W2792119940","https://openalex.org/W2909816247","https://openalex.org/W2914958891","https://openalex.org/W2964186846","https://openalex.org/W3091309294","https://openalex.org/W3199102781"],"related_works":["https://openalex.org/W2393869535","https://openalex.org/W2049337725","https://openalex.org/W2379465014","https://openalex.org/W2371509765","https://openalex.org/W2540763125","https://openalex.org/W2110206196","https://openalex.org/W2370621620","https://openalex.org/W2378058417","https://openalex.org/W9483417","https://openalex.org/W4296041517"],"abstract_inverted_index":{"2D":[0,28],"laser":[1,29],"range-finders":[2],"and":[3,31,64,93,101,111,120],"depth-cameras":[4],"are":[5,13],"usually":[6],"equipped":[7],"on":[8,78],"service":[9],"robots.":[10],"But":[11],"there":[12],"rarely":[14],"calibration":[15,24,106],"methods":[16],"of":[17,26,105],"them.":[18],"This":[19],"paper":[20],"proposes":[21],"an":[22,35],"extrinsic":[23],"method":[25,116],"a":[27,32,46,60],"range-finder":[30],"depth-camera":[33],"using":[34],"orthogonal":[36,41],"trihedron.":[37],"The":[38],"trihedron":[39],"with":[40],"assumptions":[42],"is":[43,72,91,95,117],"taken":[44],"as":[45],"reference":[47],"frame":[48],"to":[49,97],"roughly":[50],"estimate":[51],"the":[52,56,68,102,114],"relative":[53,70],"pose":[54,71],"between":[55],"sensors":[57],"by":[58,109],"solving":[59],"perspective-three-point":[61],"(P3P)":[62],"problem":[63],"basis-to-basis":[65],"correspondence.":[66],"Then,":[67],"estimated":[69],"refined":[73],"via":[74],"non-linear":[75],"optimization":[76],"based":[77],"line-to-plane":[79],"constraints.":[80],"Unlike":[81],"other":[82],"works":[83],"which":[84],"require":[85],"enough":[86],"motion,":[87],"only":[88],"one-shot":[89],"observation":[90],"required,":[92],"it":[94],"insensitive":[96],"sensor":[98],"ranging":[99],"noise":[100],"manufacturing":[103],"errors":[104],"targets.":[107],"Verified":[108],"simulation":[110],"real":[112],"experiments,":[113],"proposed":[115],"simple,":[118],"effective":[119],"accurate.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}