{"id":"https://openalex.org/W4389666336","doi":"https://doi.org/10.1109/iros55552.2023.10341416","title":"P2O-Calib: Camera-LiDAR Calibration Using Point-Pair Spatial Occlusion Relationship","display_name":"P2O-Calib: Camera-LiDAR Calibration Using Point-Pair Spatial Occlusion Relationship","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666336","doi":"https://doi.org/10.1109/iros55552.2023.10341416"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100463047","display_name":"Su Wang","orcid":"https://orcid.org/0000-0001-8030-6314"},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Su Wang","raw_affiliation_strings":["Bosch Corporate Research,Shanghai,China","Bosch Corporate Research, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Shanghai,China","institution_ids":["https://openalex.org/I4210091347","https://openalex.org/I4210120115"]},{"raw_affiliation_string":"Bosch Corporate Research, Shanghai, China","institution_ids":["https://openalex.org/I4210091347"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071975477","display_name":"Shini Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]}],"countries":["CN","SG","US"],"is_corresponding":false,"raw_author_name":"Shini Zhang","raw_affiliation_strings":["Bosch Corporate Research,Shanghai,China","Nanyang Technological University","Bosch Corporate Research, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Shanghai,China","institution_ids":["https://openalex.org/I4210091347","https://openalex.org/I4210120115"]},{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Bosch Corporate Research, Shanghai, China","institution_ids":["https://openalex.org/I4210091347"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044682489","display_name":"Xuchong Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Xuchong Qiu","raw_affiliation_strings":["Bosch Corporate Research,Shanghai,China","Bosch Corporate Research, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Shanghai,China","institution_ids":["https://openalex.org/I4210091347","https://openalex.org/I4210120115"]},{"raw_affiliation_string":"Bosch Corporate Research, Shanghai, China","institution_ids":["https://openalex.org/I4210091347"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100463047"],"corresponding_institution_ids":["https://openalex.org/I4210091347","https://openalex.org/I4210120115"],"apc_list":null,"apc_paid":null,"fwci":1.7647,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87289427,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1840","last_page":"1847"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7967671155929565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7697343826293945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7547210454940796},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7358131408691406},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6260248422622681},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.618979275226593},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.48396873474121094},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.46343833208084106},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4206477105617523},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4119827449321747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16936510801315308},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.14180967211723328}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7967671155929565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7697343826293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7547210454940796},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7358131408691406},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6260248422622681},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.618979275226593},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.48396873474121094},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.46343833208084106},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4206477105617523},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4119827449321747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16936510801315308},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.14180967211723328},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1990398405","https://openalex.org/W1999343901","https://openalex.org/W2036117503","https://openalex.org/W2085261163","https://openalex.org/W2108598243","https://openalex.org/W2115579991","https://openalex.org/W2145023731","https://openalex.org/W2156412592","https://openalex.org/W2194775991","https://openalex.org/W2217105717","https://openalex.org/W2399453552","https://openalex.org/W2770841999","https://openalex.org/W2808367323","https://openalex.org/W2908599206","https://openalex.org/W2909816247","https://openalex.org/W2909908358","https://openalex.org/W2963270286","https://openalex.org/W2963793227","https://openalex.org/W2964186846","https://openalex.org/W2967040347","https://openalex.org/W2967926749","https://openalex.org/W3080220577","https://openalex.org/W3088256830","https://openalex.org/W3090232188","https://openalex.org/W3091309294","https://openalex.org/W3095796327","https://openalex.org/W3101587859","https://openalex.org/W3102894345","https://openalex.org/W3129293064","https://openalex.org/W3143504974","https://openalex.org/W3149870276","https://openalex.org/W3171843835","https://openalex.org/W3183685035","https://openalex.org/W3205078851","https://openalex.org/W4249736682","https://openalex.org/W4285121103","https://openalex.org/W4308068821","https://openalex.org/W4383097439","https://openalex.org/W6631190155","https://openalex.org/W6785598455"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033","https://openalex.org/W4221065211"],"abstract_inverted_index":{"The":[0,26,45,64,150],"accurate":[1],"and":[2,23,35,42,60,72,124,141,161,165],"robust":[3],"calibration":[4,31,87,122],"result":[5],"of":[6,53,132],"sensors":[7],"is":[8,90],"considered":[9],"as":[10,56],"an":[11,115],"important":[12],"building":[13],"block":[14],"to":[15,171],"the":[16,20,93,99,107,121,130,137,147,157,172],"follow-up":[17],"research":[18],"in":[19,75,102],"autonomous":[21],"driving":[22],"robotics":[24],"domain.":[25],"current":[27,65],"works":[28],"involving":[29],"extrinsic":[30],"between":[32],"3D":[33,103],"LiDARs":[34],"monocular":[36],"cameras":[37],"mainly":[38],"focus":[39],"on":[40,92,106,143,176],"target-based":[41,46],"target-less":[43,66,86,159],"methods.":[44],"methods":[47,67,160],"are":[48],"often":[49],"utilized":[50],"offline":[51],"because":[52],"restrictions,":[54],"such":[55],"additional":[57],"target":[58,61],"design":[59],"placement":[62],"limits.":[63],"suffer":[68],"from":[69,146],"feature":[70,73],"indeterminacy":[71],"mismatching":[74],"various":[76],"environments.":[77],"To":[78,128],"alleviate":[79],"these":[80],"limitations,":[81],"we":[82,112,135],"propose":[83,114],"a":[84],"novel":[85],"approach":[88],"which":[89],"based":[91],"2D-3D":[94,109],"edge":[95],"point":[96,110],"extraction":[97],"using":[98],"occlusion":[100],"relationship":[101],"space.":[104],"Based":[105],"extracted":[108],"pairs,":[111],"further":[113],"occlusion-guided":[116],"point-matching":[117],"method":[118,138,155],"that":[119,153,168],"improves":[120],"accuracy":[123],"reduces":[125],"computation":[126],"costs.":[127],"validate":[129],"effectiveness":[131],"our":[133,154],"approach,":[134],"evaluate":[136],"performance":[139],"qualitatively":[140],"quantitatively":[142],"real":[144],"images":[145],"KITTI":[148],"dataset.":[149],"results":[151],"demonstrate":[152],"outperforms":[156],"existing":[158],"achieves":[162],"low":[163],"error":[164],"high":[166],"robustness":[167],"can":[169],"contribute":[170],"practical":[173],"applications":[174],"relying":[175],"high-quality":[177],"Camera-LiDAR":[178],"calibration.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
