{"id":"https://openalex.org/W4416749328","doi":"https://doi.org/10.1109/iros60139.2025.11247599","title":"Direct, Targetless and Automatic Joint Calibration of LiDAR-Camera Intrinsic and Extrinsic","display_name":"Direct, Targetless and Automatic Joint Calibration of LiDAR-Camera Intrinsic and Extrinsic","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749328","doi":"https://doi.org/10.1109/iros60139.2025.11247599"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":null,"display_name":"Yishu Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yishu Shen","raw_affiliation_strings":["Shanghai Jiao Tong University,Global Institute of Future Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Global Institute of Future Technology,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114608772","display_name":"Sheng Hong","orcid":"https://orcid.org/0000-0002-7322-8124"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"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"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sheng Hong","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic Computer Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic Computer Engineering,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"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"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic Computer Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic Computer Engineering,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101960817","display_name":"Tong Qin","orcid":"https://orcid.org/0000-0001-8177-0573"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Qin","raw_affiliation_strings":["Shanghai Jiao Tong University,Global Institute of Future Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Global Institute of Future Technology,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":4.418,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95516966,"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":"8720","last_page":"8726"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8899999856948853,"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":0.8899999856948853,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.015300000086426735,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.0142000000923872,"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/calibration","display_name":"Calibration","score":0.7522000074386597},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6600000262260437},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5789999961853027},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.569599986076355},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5482000112533569},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.529699981212616},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4902999997138977},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4848000109195709},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.42989999055862427}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7522000074386597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6722000241279602},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6600000262260437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6319000124931335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5874000191688538},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5789999961853027},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.569599986076355},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5482000112533569},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.529699981212616},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4902999997138977},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4848000109195709},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.42989999055862427},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.4083999991416931},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.3517000079154968},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.34299999475479126},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.337799996137619},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.3043000102043152},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3000999987125397},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C202799725","wikidata":"https://www.wikidata.org/wiki/Q272035","display_name":"Accuracy and precision","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-169435","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-169435","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W36923225","https://openalex.org/W1593692296","https://openalex.org/W2086018246","https://openalex.org/W2100893637","https://openalex.org/W2101028311","https://openalex.org/W2133505209","https://openalex.org/W2156412592","https://openalex.org/W2167667767","https://openalex.org/W2295149141","https://openalex.org/W2471962767","https://openalex.org/W2504335775","https://openalex.org/W2752239616","https://openalex.org/W2909816247","https://openalex.org/W2922483979","https://openalex.org/W2933190127","https://openalex.org/W2967926749","https://openalex.org/W2969257853","https://openalex.org/W2970754351","https://openalex.org/W2995949129","https://openalex.org/W3034236957","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3120910864","https://openalex.org/W3136025880","https://openalex.org/W3145547920","https://openalex.org/W3183685035","https://openalex.org/W3205078851","https://openalex.org/W4285150423","https://openalex.org/W4383097439","https://openalex.org/W4383109203","https://openalex.org/W4404520519","https://openalex.org/W4411599598"],"related_works":[],"abstract_inverted_index":{"This":[0,104],"paper":[1],"presents":[2],"a":[3,47],"direct,":[4],"targetless,":[5],"and":[6,36,63,111,129],"automatic":[7],"LiDAR-Camera":[8],"joint":[9],"calibration":[10],"method":[11,124],"that":[12,26,56,122,132],"effectively":[13],"overcomes":[14],"the":[15,39,42,58,75,82,87,90,99,139],"intrinsic":[16,35,43,92,110,127],"precision":[17],"limitations.":[18],"We":[19],"propose":[20],"an":[21,53],"iterative":[22],"two-stage":[23],"optimization":[24,95],"methodology":[25,144],"leverages":[27],"3D":[28],"LiDAR":[29,62,78],"measurements":[30],"to":[31],"simultaneously":[32],"refine":[33],"both":[34,109],"extrinsic.":[37],"In":[38,86],"first":[40],"stage,":[41,89],"is":[44],"optimized":[45],"using":[46,98],"normalized":[48],"information":[49],"distance":[50],"(NID)":[51],"metric,":[52],"information-theoretic":[54],"measure":[55],"quantifies":[57],"statistical":[59],"alignment":[60],"between":[61],"image":[64,84],"intensities,":[65],"while":[66],"initial":[67],"extrinsic":[68,97,112,130],"parameters":[69,131],"derived":[70],"from":[71],"CAD":[72,136],"specifications":[73],"facilitate":[74],"projection":[76],"of":[77,96,142],"point":[79],"clouds":[80],"onto":[81],"camera":[83],"plane.":[85],"second":[88],"refined":[91],"guides":[93],"further":[94],"same":[100],"NID-based":[101],"evaluation":[102],"metrics.":[103],"alternating":[105],"process":[106],"iteratively":[107],"enhances":[108],"through":[113],"their":[114],"mutual":[115],"interdependence.":[116],"Experiments":[117],"across":[118],"multiple":[119],"datasets":[120],"demonstrate":[121],"our":[123,143],"achieves":[125],"sub-pixel":[126],"accuracy":[128],"closely":[133],"align":[134],"with":[135],"specifications,":[137],"validating":[138],"superior":[140],"performance":[141],"for":[145],"sensor":[146],"fusion":[147],"applications.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-11-28T00:00:00"}