{"id":"https://openalex.org/W4308080815","doi":"https://doi.org/10.1109/itsc55140.2022.9921851","title":"Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners","display_name":"Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080815","doi":"https://doi.org/10.1109/itsc55140.2022.9921851"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921851","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5028800461","display_name":"Feiyi Chen","orcid":"https://orcid.org/0000-0001-7604-848X"},"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":"Feiyi Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101904373","display_name":"Shuyang Zhang","orcid":"https://orcid.org/0000-0003-2120-5104"},"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":"Shuyang Zhang","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079117062","display_name":"Xupeng Xie","orcid":"https://orcid.org/0000-0002-7610-5226"},"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":"Xupeng Xie","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619309","display_name":"Qingwen Zhang","orcid":"https://orcid.org/0000-0002-7882-948X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qingwen Zhang","raw_affiliation_strings":["System Hub the HongKong University of Science and Technology (GZ),Guangzhou,China","System Hub the HongKong University of Science and Technology (GZ), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Hub the HongKong University of Science and Technology (GZ),Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"System Hub the HongKong University of Science and Technology (GZ), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100631530","display_name":"Yutong Wang","orcid":"https://orcid.org/0000-0003-2981-7471"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yutong Wang","raw_affiliation_strings":["System Hub the HongKong University of Science and Technology (GZ),Guangzhou,China","System Hub the HongKong University of Science and Technology (GZ), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Hub the HongKong University of Science and Technology (GZ),Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"System Hub the HongKong University of Science and Technology (GZ), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048730226","display_name":"Jianhao Jiao","orcid":"https://orcid.org/0000-0001-7372-266X"},"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":"Jianhao Jiao","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"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":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay, owloon,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, owloon, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4234","last_page":"4240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/lidar","display_name":"Lidar","score":0.7905502319335938},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7573044300079346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7500665783882141},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.696235716342926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6477579474449158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.602666437625885},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5196093916893005},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.46626386046409607},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.462015300989151},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4543927311897278},{"id":"https://openalex.org/keywords/gaussian-network-model","display_name":"Gaussian network model","score":0.42410776019096375},{"id":"https://openalex.org/keywords/checkerboard","display_name":"Checkerboard","score":0.41964447498321533},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2331215739250183},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1217564046382904},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12040305137634277}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7905502319335938},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7573044300079346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7500665783882141},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.696235716342926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6477579474449158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.602666437625885},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5196093916893005},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.46626386046409607},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.462015300989151},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4543927311897278},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.42410776019096375},{"id":"https://openalex.org/C2779168147","wikidata":"https://www.wikidata.org/wiki/Q460711","display_name":"Checkerboard","level":2,"score":0.41964447498321533},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2331215739250183},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1217564046382904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12040305137634277},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921851","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-123605","is_oa":false,"landing_page_url":"http://www.scopus.com/record/display.url?eid=2-s2.0-85141865325&origin=inward","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":[{"id":"https://openalex.org/G2645295266","display_name":null,"funder_award_id":"GDST20EG54","funder_id":"https://openalex.org/F4320324202","funder_display_name":"Guangdong Science and Technology Department"}],"funders":[{"id":"https://openalex.org/F4320324202","display_name":"Guangdong Science and Technology Department","ror":"https://ror.org/00tjzgn92"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W66443818","https://openalex.org/W1883517952","https://openalex.org/W1974900073","https://openalex.org/W1988874269","https://openalex.org/W1994349244","https://openalex.org/W2097649661","https://openalex.org/W2145633829","https://openalex.org/W2167340365","https://openalex.org/W2167667767","https://openalex.org/W2217105717","https://openalex.org/W2506565668","https://openalex.org/W2517787242","https://openalex.org/W2565233142","https://openalex.org/W2909816247","https://openalex.org/W2959664128","https://openalex.org/W2967926749","https://openalex.org/W2971159190","https://openalex.org/W3091523271","https://openalex.org/W3133123082","https://openalex.org/W3183685035","https://openalex.org/W4376502360","https://openalex.org/W6637131181","https://openalex.org/W6647875049","https://openalex.org/W6656493894"],"related_works":["https://openalex.org/W1545119137","https://openalex.org/W2550128194","https://openalex.org/W2807389810","https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2962782951","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W2594043982","https://openalex.org/W3036493597"],"abstract_inverted_index":{"In":[0,32],"autonomous":[1],"driving":[2],"systems,":[3],"multiple":[4,44],"sensors":[5,52],"are":[6],"installed":[7],"to":[8,23,151],"provide":[9],"complementary":[10],"information.":[11],"Extrinsic":[12],"calibration":[13,42,94],"is":[14,21,72,89,121,129,149],"the":[15,24,29,62,81,92,118],"prerequisite":[16],"of":[17,28,61,83,123,134],"multi-sensor":[18],"fusion,":[19],"which":[20,148],"critical":[22],"accuracy":[25],"and":[26,46,49,69,110,128],"performance":[27],"fused":[30],"system.":[31],"this":[33],"paper,":[34],"we":[35],"propose":[36],"a":[37,55,76],"unified":[38],"algorithm":[39,103],"for":[40],"extrinsic":[41,93,126],"among":[43],"cameras":[45],"light":[47],"detection":[48],"ranging":[50],"(LiDAR)":[51],"using":[53],"only":[54],"standard":[56],"checkerboard.":[57],"The":[58,113],"geometric":[59,70],"information":[60],"checkerboard,":[63],"containing":[64],"plane":[65],"coefficients,":[66],"boundary":[67],"points":[68],"corners,":[71],"extracted":[73],"automatically":[74],"with":[75],"lightweight":[77],"approach":[78,141],"by":[79,95],"leveraging":[80],"characteristics":[82],"mechanical":[84],"LiDARs.":[85],"A":[86],"coarse-to-fine":[87],"manner":[88],"adopted":[90],"in":[91,99,131,139],"utilizing":[96],"these":[97],"features":[98],"different":[100,132],"stages.":[101],"Our":[102],"has":[104],"been":[105],"experimentally":[106],"validated":[107],"through":[108],"simulations":[109],"real-world":[111],"experiments.":[112],"experimental":[114],"results":[115],"show":[116],"that":[117],"proposed":[119],"method":[120],"capable":[122],"providing":[124],"accurate":[125],"parameters":[127],"robust":[130],"levels":[133],"Gaussian":[135],"noise.":[136],"All":[137],"procedures":[138],"our":[140],"operate":[142],"automatically,":[143],"without":[144],"any":[145],"manual":[146],"intervention,":[147],"beneficial":[150],"practical":[152],"applications.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}