{"id":"https://openalex.org/W4312979124","doi":"https://doi.org/10.1109/iros47612.2022.9981651","title":"TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis","display_name":"TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312979124","doi":"https://doi.org/10.1109/iros47612.2022.9981651"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981651","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":"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/A5016663238","display_name":"Haohao Hu","orcid":"https://orcid.org/0000-0002-9828-5790"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Haohao Hu","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017387163","display_name":"Fengze Han","orcid":"https://orcid.org/0009-0001-8408-607X"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fengze Han","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062955059","display_name":"Frank Bieder","orcid":"https://orcid.org/0009-0007-1178-4487"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Bieder","raw_affiliation_strings":["FZI Research Center for Information Technology,Mobile Perception Systems Department,Karlsruhe,Germany","Mobile Perception Systems Department, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Mobile Perception Systems Department,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Mobile Perception Systems Department, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020982793","display_name":"Jan-Hendrik Pauls","orcid":"https://orcid.org/0000-0003-2048-392X"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan-Hendrik Pauls","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","Mobile Perception Systems Department, FZI Research Center for Information Technology, Karlsruhe, Germany","Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception Systems Department, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016663238"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":1.3887,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83687653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6256","last_page":"6263"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9980000257492065,"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/lidar","display_name":"Lidar","score":0.8643522262573242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7815607786178589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7402049899101257},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7382754683494568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6921036839485168},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6808678507804871},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5844986438751221},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.5054788589477539},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4976103603839874},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4960518777370453},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.44520941376686096},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.4249313771724701},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41626566648483276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11246365308761597},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11115679144859314}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8643522262573242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7815607786178589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7402049899101257},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7382754683494568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6921036839485168},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6808678507804871},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5844986438751221},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.5054788589477539},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4976103603839874},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4960518777370453},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.44520941376686096},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.4249313771724701},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41626566648483276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11246365308761597},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11115679144859314},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981651","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2165114467","https://openalex.org/W2217105717","https://openalex.org/W2518401284","https://openalex.org/W2556806731","https://openalex.org/W2561990479","https://openalex.org/W2740614846","https://openalex.org/W2933190127","https://openalex.org/W2963562098","https://openalex.org/W2963793227","https://openalex.org/W2964321586","https://openalex.org/W2967926749","https://openalex.org/W2970676797","https://openalex.org/W3001225245","https://openalex.org/W3010636877","https://openalex.org/W3047579219","https://openalex.org/W3157685993","https://openalex.org/W3183685035","https://openalex.org/W6775028692"],"related_works":["https://openalex.org/W2096059205","https://openalex.org/W2321086849","https://openalex.org/W2366688168","https://openalex.org/W2333223448","https://openalex.org/W2018226387","https://openalex.org/W2089184644","https://openalex.org/W42909716","https://openalex.org/W2658949336","https://openalex.org/W1973271280","https://openalex.org/W2097841118"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,93,158],"present":[4],"TEScalib,":[5],"a":[6,98,127],"novel":[7],"extrinsic":[8,50,117,171],"self-calibration":[9],"approach":[10,175],"of":[11,22,57,168],"LiDAR":[12,34,59,113,135],"and":[13,19,35,60,68,120,133],"stereo":[14,36,61,115,125],"camera":[15,37,62,116,145],"using":[16],"the":[17,58,73,105,112,124,134,166,169,178],"geometric":[18,106],"photometric":[20,128],"information":[21,107],"surrounding":[23],"environments":[24],"without":[25],"any":[26],"calibration":[27,51,63],"targets":[28],"for":[29,41,86,164],"automated":[30,46],"driving":[31,47,87],"vehicles.":[32],"Since":[33],"are":[38,65,81,153],"widely":[39],"used":[40,109],"sensor":[42],"data":[43],"fusion":[44],"on":[45,177],"vehicles,":[48],"their":[49],"is":[52,108,131,137],"highly":[53],"important.":[54],"However,":[55],"most":[56],"approaches":[64,77],"mainly":[66],"target-based":[67],"therefore":[69],"time":[70],"consuming.":[71],"Even":[72],"newly":[74],"developed":[75],"targetless":[76],"in":[78],"last":[79],"years":[80],"either":[82],"inaccurate":[83],"or":[84],"unsuitable":[85],"platforms.":[88],"To":[89,122],"address":[90],"those":[91],"problems,":[92],"introduce":[94],"TEScalib.":[95],"By":[96],"applying":[97],"3D":[99],"mesh":[100],"reconstruction-based":[101],"point":[102],"cloud":[103],"registration,":[104],"to":[110,114,139,146],"estimate":[111],"parameters":[118],"accurately":[119],"robustly.":[121],"calibrate":[123],"camera,":[126],"error":[129],"function":[130],"builded":[132],"depth":[136],"involved":[138],"transform":[140],"key":[141],"points":[142],"from":[143],"one":[144],"another.":[147],"During":[148],"driving,":[149],"these":[150],"two":[151],"parts":[152],"processed":[154],"iteratively.":[155],"Besides":[156],"that,":[157],"also":[159],"propose":[160],"an":[161],"uncertainty":[162],"analysis":[163],"reflecting":[165],"reliability":[167],"estimated":[170],"parameters.":[172],"Our":[173],"TEScalib":[174],"evaluated":[176],"KITTI":[179],"dataset":[180],"achieves":[181],"very":[182],"promising":[183],"results.":[184]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}