{"id":"https://openalex.org/W4405785943","doi":"https://doi.org/10.1109/iros58592.2024.10802395","title":"MFCalib: Single-shot and Automatic Extrinsic Calibration for LiDAR and Camera in Targetless Environments Based on Multi-Feature Edge","display_name":"MFCalib: Single-shot and Automatic Extrinsic Calibration for LiDAR and Camera in Targetless Environments Based on Multi-Feature Edge","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785943","doi":"https://doi.org/10.1109/iros58592.2024.10802395"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802395","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/A5111345720","display_name":"Tianyong Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianyong Ye","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040761750","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0001-8005-4372"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["Manifold Tech Limited,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Manifold Tech Limited,Hong Kong,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084344419","display_name":"Chunran Zheng","orcid":"https://orcid.org/0000-0001-5974-3771"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Chunran Zheng","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111525812","display_name":"Yukang Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukang Cui","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111345720"],"corresponding_institution_ids":["https://openalex.org/I180726961"],"apc_list":null,"apc_paid":null,"fwci":4.8486,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.95419971,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"864","last_page":"871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.7631244659423828},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7226210832595825},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7190396785736084},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.699447512626648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6797446608543396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6714545488357544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6285588145256042},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.6124584078788757},{"id":"https://openalex.org/keywords/single-shot","display_name":"Single shot","score":0.5962701439857483},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41610437631607056},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.343711256980896},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2947390675544739},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.14935922622680664},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12475794553756714},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0997944176197052},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08038297295570374}],"concepts":[{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.7631244659423828},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7226210832595825},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7190396785736084},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.699447512626648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6797446608543396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6714545488357544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6285588145256042},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.6124584078788757},{"id":"https://openalex.org/C3019835501","wikidata":"https://www.wikidata.org/wiki/Q1310130","display_name":"Single shot","level":2,"score":0.5962701439857483},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41610437631607056},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.343711256980896},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2947390675544739},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.14935922622680664},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12475794553756714},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0997944176197052},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08038297295570374},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802395","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326279","display_name":"Department of Education of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2017088761","https://openalex.org/W2145023731","https://openalex.org/W2217105717","https://openalex.org/W2518401284","https://openalex.org/W2535547924","https://openalex.org/W2896911799","https://openalex.org/W2909816247","https://openalex.org/W3034275286","https://openalex.org/W3089954597","https://openalex.org/W3090232188","https://openalex.org/W3102327032","https://openalex.org/W3102894345","https://openalex.org/W3120910864","https://openalex.org/W3127103128","https://openalex.org/W3130543029","https://openalex.org/W3133648073","https://openalex.org/W3181051035","https://openalex.org/W3183685035","https://openalex.org/W3199184510","https://openalex.org/W3207892421","https://openalex.org/W4210423514","https://openalex.org/W4285150423","https://openalex.org/W4285269741","https://openalex.org/W4312265650","https://openalex.org/W4312612710","https://openalex.org/W4315881293","https://openalex.org/W4319300075","https://openalex.org/W4319303219","https://openalex.org/W4362698359","https://openalex.org/W4383097439","https://openalex.org/W4386185435","https://openalex.org/W4404520519"],"related_works":["https://openalex.org/W3142396426","https://openalex.org/W2471333042","https://openalex.org/W4396643691","https://openalex.org/W4404739899","https://openalex.org/W4402383816","https://openalex.org/W2955491601","https://openalex.org/W146529714","https://openalex.org/W4402559869","https://openalex.org/W4230158770","https://openalex.org/W2316500695"],"abstract_inverted_index":{"This":[0,59],"paper":[1],"presents":[2],"MFCalib,":[3],"an":[4],"innovative":[5],"extrinsic":[6],"calibration":[7,41,70,126],"technique":[8],"for":[9],"LiDAR":[10,98,114],"and":[11,43,50,81,99,132],"RGB":[12],"camera":[13],"that":[14,120],"operates":[15],"automatically":[16],"in":[17,79,140],"targetless":[18,125],"environments":[19],"with":[20,54,71],"a":[21,33,101,141],"single":[22],"data":[23,76],"capture.":[24],"At":[25],"the":[26,85,93,106,113,123,135],"heart":[27],"of":[28,36,75,87,97,108,137],"this":[29],"method":[30],"is":[31],"using":[32],"rich":[34],"set":[35],"edge":[37,61,109],"information,":[38],"significantly":[39],"enhancing":[40],"accuracy":[42],"robustness.":[44],"Specifically,":[45],"we":[46,90,148],"extract":[47],"both":[48],"depth-continuous":[49],"depth-discontinuous":[51,88],"edges,":[52,89],"along":[53],"intensity-discontinuous":[55],"edges":[56],"on":[57,154],"planes.":[58],"comprehensive":[60],"extraction":[62],"strategy":[63],"ensures":[64],"our":[65,150],"ability":[66],"to":[67],"achieve":[68],"accurate":[69],"just":[72],"one":[73],"round":[74],"collection,":[77],"even":[78],"complex":[80],"varied":[82],"settings.":[83],"Addressing":[84],"uncertainty":[86],"delve":[91],"into":[92],"physical":[94],"measurement":[95],"principles":[96],"develop":[100],"beam":[102],"model,":[103],"effectively":[104],"mitigating":[105],"issue":[107],"inflation":[110],"caused":[111],"by":[112],"beam.":[115],"Extensive":[116],"experiment":[117],"results":[118],"demonstrate":[119],"MFCalib":[121],"outperforms":[122],"state-of-the-art":[124],"methods":[127],"across":[128],"various":[129],"scenes,":[130],"achieving":[131],"often":[133],"surpassing":[134],"precision":[136],"multi-scene":[138],"calibrations":[139],"single-shot":[142],"collection.":[143],"To":[144],"support":[145],"community":[146],"development,":[147],"make":[149],"code":[151],"available":[152],"open-source":[153],"GitHub.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}