{"id":"https://openalex.org/W4405787646","doi":"https://doi.org/10.1109/iros58592.2024.10802291","title":"Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation","display_name":"Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787646","doi":"https://doi.org/10.1109/iros58592.2024.10802291"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5079123348","display_name":"Shun Niijima","orcid":"https://orcid.org/0000-0002-7595-2191"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shun Niijima","raw_affiliation_strings":["Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065774676","display_name":"Atsushi Suzuki","orcid":"https://orcid.org/0000-0002-0266-5765"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atsushi Suzuki","raw_affiliation_strings":["Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031076405","display_name":"Ryoichi Tsuzaki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ryoichi Tsuzaki","raw_affiliation_strings":["Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074564655","display_name":"Masaya Kinoshita","orcid":"https://orcid.org/0009-0004-2343-7085"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Masaya Kinoshita","raw_affiliation_strings":["Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation,Minato-ku, Tokyo,Japan,108-0075","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079123348"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13309797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"840","last_page":"847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9911999702453613,"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":0.9911999702453613,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9541000127792358,"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/computer-vision","display_name":"Computer vision","score":0.7763952016830444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7182477116584778},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6758473515510559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.647826075553894},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6321395635604858},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5796170234680176},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5264492630958557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4880865812301636},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4470597207546234},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.43575918674468994},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2224656343460083},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.21577230095863342},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13021206855773926},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09501203894615173}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7763952016830444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7182477116584778},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6758473515510559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.647826075553894},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6321395635604858},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5796170234680176},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5264492630958557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4880865812301636},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4470597207546234},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.43575918674468994},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2224656343460083},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.21577230095863342},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13021206855773926},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09501203894615173},{"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/iros58592.2024.10802291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/11","score":0.49000000953674316,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1482620625","https://openalex.org/W1896525902","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2074658631","https://openalex.org/W2152864241","https://openalex.org/W2967040347","https://openalex.org/W2971159190","https://openalex.org/W3003277412","https://openalex.org/W3004053771","https://openalex.org/W3005974859","https://openalex.org/W3006936513","https://openalex.org/W3127512444","https://openalex.org/W3130543029","https://openalex.org/W3130955304","https://openalex.org/W3132837410","https://openalex.org/W3183685035","https://openalex.org/W4285102653","https://openalex.org/W4285150423","https://openalex.org/W4293095204","https://openalex.org/W4311437690","https://openalex.org/W4382365330","https://openalex.org/W6857675963"],"related_works":["https://openalex.org/W2899084033","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/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"The":[0,50,177],"utilization":[1],"of":[2,15,30,47,57,112,147,150,163,186],"mobile":[3,158],"robots":[4],"equipped":[5],"with":[6,44,137],"multiple":[7,42],"light":[8],"detection":[9],"and":[10,27,61,139],"ranging":[11],"(LiDAR)":[12],"sensors,":[13],"capable":[14],"perceiving":[16],"their":[17],"surroundings,":[18],"is":[19],"on":[20],"the":[21,25,58,80,90,101,128,148,161,184],"rise":[22],"due":[23],"to":[24,104,143,174,183],"miniaturization":[26],"cost":[28],"reduction":[29],"LiDAR":[31],"technology.":[32],"This":[33],"paper":[34],"introduces":[35],"a":[36,93,156],"target-less":[37],"extrinsic":[38,135,179],"calibration":[39,136],"method":[40,52,91,130],"for":[41],"LiDARs":[43,76,141],"non-overlapping":[45],"fields":[46],"view":[48],"(FoV).":[49],"proposed":[51,129,165],"leverages":[53],"accumulated":[54],"point":[55,115],"clouds":[56],"floor":[59,81],"plane":[60],"objects":[62],"obtained":[63],"during":[64],"robot":[65,159],"motion.":[66],"It":[67],"enables":[68],"accurate":[69],"calibration,":[70],"even":[71],"in":[72,114,134,169],"challenging":[73],"configurations":[74],"where":[75],"are":[77,109],"directed":[78],"towards":[79],"plane,":[82],"which":[83,108],"can":[84],"introduce":[85],"biased":[86],"feature":[87],"values.":[88],"Additionally,":[89],"incorporates":[92],"noise":[94,166,172],"removal":[95,167],"module":[96,168],"that":[97,127],"takes":[98],"into":[99],"account":[100],"scanning":[102],"pattern":[103],"address":[105],"bleeding":[106],"points,":[107],"significant":[110],"sources":[111],"error":[113],"cloud":[116],"alignment":[117],"when":[118],"using":[119,155],"high-density":[120],"LiDARs.":[121],"Evaluations":[122],"conducted":[123,154],"through":[124],"simulation":[125],"demonstrate":[126],"achieves":[131],"higher":[132],"accuracy":[133],"two":[138],"four":[140],"compared":[142,173],"conventional":[144,175],"methods,":[145],"regardless":[146],"type":[149],"objects.":[151],"Furthermore,":[152],"experiments":[153],"real":[157],"validate":[160],"effectiveness":[162],"our":[164],"precisely":[170],"eliminating":[171],"methods.":[176],"estimated":[178],"parameters":[180],"successfully":[181],"contribute":[182],"creation":[185],"consistent":[187],"3D":[188],"maps.":[189]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
