{"id":"https://openalex.org/W4312592592","doi":"https://doi.org/10.1109/iros47612.2022.9982031","title":"Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs","display_name":"Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312592592","doi":"https://doi.org/10.1109/iros47612.2022.9982031"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982031","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/A5059976164","display_name":"Xiangyang Zhi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144687","display_name":"Nitto (United States)","ror":"https://ror.org/05fr4xz54","country_code":"US","type":"company","lineage":["https://openalex.org/I171818078","https://openalex.org/I4210144687"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiangyang Zhi","raw_affiliation_strings":["NIO Inc"],"affiliations":[{"raw_affiliation_string":"NIO Inc","institution_ids":["https://openalex.org/I4210144687"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068725106","display_name":"Jiawei Hou","orcid":"https://orcid.org/0000-0002-6728-0997"},"institutions":[{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Hou","raw_affiliation_strings":["School of Information Science and Technology, ShanghaiTech University,Shanghai,China,201210","Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University,Shanghai,China,201210","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210147322"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061100056","display_name":"Yiren Lu","orcid":"https://orcid.org/0000-0003-2302-1851"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiren Lu","raw_affiliation_strings":["School of Information Science Technology of ShanghaiTech University,China","School of Information Science Technology of ShanghaiTech University, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044711470","display_name":"Laurent Kneip","orcid":"https://orcid.org/0000-0001-6727-6608"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Laurent Kneip","raw_affiliation_strings":["School of Information Science Technology of ShanghaiTech University,China","School of Information Science Technology of ShanghaiTech University, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051350739","display_name":"S\u00f6ren Schwertfeger","orcid":"https://orcid.org/0000-0003-2879-1636"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Schwertfeger","raw_affiliation_strings":["School of Information Science Technology of ShanghaiTech University,China","School of Information Science Technology of ShanghaiTech University, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science Technology of ShanghaiTech University, China","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059976164"],"corresponding_institution_ids":["https://openalex.org/I4210144687"],"apc_list":null,"apc_paid":null,"fwci":3.0552,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94582993,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2446","last_page":"2453"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9994999766349792,"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":0.998199999332428,"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/calibration","display_name":"Calibration","score":0.8076392412185669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7462320327758789},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6655281782150269},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6013731956481934},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5681493282318115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5508586764335632},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5415894985198975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34231942892074585},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34064003825187683},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1310354471206665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12435445189476013}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.8076392412185669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7462320327758789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6655281782150269},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6013731956481934},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5681493282318115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5508586764335632},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5415894985198975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34231942892074585},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34064003825187683},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1310354471206665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12435445189476013},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982031","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":[{"id":"https://openalex.org/F4320327675","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1488441735","https://openalex.org/W1909421903","https://openalex.org/W1924392759","https://openalex.org/W1994349244","https://openalex.org/W1998058414","https://openalex.org/W2013707129","https://openalex.org/W2016959837","https://openalex.org/W2019753051","https://openalex.org/W2071763687","https://openalex.org/W2085052797","https://openalex.org/W2101028311","https://openalex.org/W2114084853","https://openalex.org/W2121349631","https://openalex.org/W2125188427","https://openalex.org/W2150382645","https://openalex.org/W2162265152","https://openalex.org/W2167667767","https://openalex.org/W2167916881","https://openalex.org/W2293833064","https://openalex.org/W2325922889","https://openalex.org/W2418849765","https://openalex.org/W2419416064","https://openalex.org/W2774119019","https://openalex.org/W2896911799","https://openalex.org/W2942681985","https://openalex.org/W2990449593","https://openalex.org/W3025554506","https://openalex.org/W3038073379","https://openalex.org/W3102072468","https://openalex.org/W3105664540","https://openalex.org/W3130081760","https://openalex.org/W3143589474","https://openalex.org/W7062636717"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"Spatiotemporal":[0],"calibration":[1,33,43,109,124],"of":[2,5,13,22,40,61,78,98,139],"sensors,":[3,102],"especially":[4],"those":[6],"which":[7],"do":[8,112],"not":[9,113],"share":[10],"their":[11],"fields":[12,21],"view,":[14],"is":[15,70],"becoming":[16],"increasingly":[17],"important":[18],"in":[19],"the":[20,59,62,95,105,122,133,136,140],"autonomous":[23],"driving":[24],"and":[25,68,80,103,129,132],"robotics.":[26],"This":[27],"paper":[28],"presents":[29],"a":[30,71],"general":[31,72],"sensor":[32,63],"method,":[34],"named":[35],"Multical,":[36],"that":[37],"makes":[38],"use":[39],"multiple":[41],"planar":[42],"targets":[44],"whose":[45],"poses":[46,107],"will":[47],"be":[48],"estimated":[49],"alongside":[50],"spatiotemporal":[51],"calibration.":[52],"Multical":[53,90],"exploits":[54],"continuous-time":[55],"curves":[56],"to":[57,74,93,115,126],"represent":[58],"state":[60],"platform":[64],"during":[65],"data":[66],"collection,":[67],"thus":[69],"framework":[73],"calibrate":[75],"different":[76],"kinds":[77],"sensors":[79],"deal":[81],"with":[82],"both":[83,127],"spatial":[84,99],"as":[85,87],"well":[86],"temporal":[88],"offsets.":[89],"includes":[91],"algorithms":[92],"estimate":[94],"initial":[96],"guesses":[97],"transformations":[100],"between":[101,108],"also":[104],"relative":[106],"targets.":[110],"Users":[111],"need":[114],"provide":[116],"any":[117],"extrinsic":[118],"priors.":[119],"We":[120],"apply":[121],"proposed":[123,141],"approach":[125],"simulated":[128],"real-world":[130],"experiments,":[131],"results":[134],"demonstrate":[135],"high":[137],"fidelity":[138],"method.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
