{"id":"https://openalex.org/W4408697153","doi":"https://doi.org/10.1109/itsc58415.2024.10919504","title":"A Taxonomization and Comparative Evaluation of Targetless Camera-Lidar Calibration for Autonomous Vehicles","display_name":"A Taxonomization and Comparative Evaluation of Targetless Camera-Lidar Calibration for Autonomous Vehicles","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408697153","doi":"https://doi.org/10.1109/itsc58415.2024.10919504"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","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/A5108988967","display_name":"Xinwei Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xinwei Guo","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824"],"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049875933","display_name":"Daniel Kent","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Kent","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824"],"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100938838","display_name":"Xiaohu Lu","orcid":"https://orcid.org/0000-0002-3045-7015"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaohu Lu","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824"],"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015107642","display_name":"Hayder Radha","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hayder Radha","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824"],"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48824","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108988967"],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22111361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4040","last_page":"4045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9954000115394592,"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":0.9954000115394592,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9908000230789185,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.97079998254776,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7727318406105042},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6993346214294434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811842083930969},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5187268853187561},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5123437643051147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5035526156425476},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14546865224838257},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09575271606445312}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7727318406105042},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6993346214294434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811842083930969},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5187268853187561},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5123437643051147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5035526156425476},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14546865224838257},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09575271606445312},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2217105717","https://openalex.org/W2560023338","https://openalex.org/W2772494217","https://openalex.org/W2908599206","https://openalex.org/W2963270286","https://openalex.org/W2963793227","https://openalex.org/W2964186846","https://openalex.org/W2967926749","https://openalex.org/W2999050151","https://openalex.org/W3015248322","https://openalex.org/W3047579219","https://openalex.org/W3090824333","https://openalex.org/W3091523271","https://openalex.org/W3096945103","https://openalex.org/W3099979934","https://openalex.org/W3120321204","https://openalex.org/W3120910864","https://openalex.org/W3129293064","https://openalex.org/W3130463448","https://openalex.org/W3156265036","https://openalex.org/W3158910630","https://openalex.org/W3175380624","https://openalex.org/W3183685035","https://openalex.org/W4213176388","https://openalex.org/W4308083523","https://openalex.org/W4309913730","https://openalex.org/W4382240183","https://openalex.org/W4390874575","https://openalex.org/W4401416195","https://openalex.org/W6755013215"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367"],"abstract_inverted_index":{"The":[0],"state":[1],"of":[2,27,100,112,119,128,176,189,195],"the":[3,24,76,98,110,117,126,174,187,193],"art":[4],"in":[5,15,116,134,141],"autonomous":[6,68],"vehicle":[7],"technology":[8],"has":[9],"been":[10],"advanced":[11],"due":[12],"to":[13,58,155],"progress":[14],"multiple":[16],"disciplines,":[17],"including":[18],"multi-modal":[19,120,196],"object":[20,121,160,197],"detection":[21,39,161,198],"algorithms.":[22],"With":[23],"falling":[25],"cost":[26],"multi-sensor":[28],"fusion":[29],"hardware,":[30],"namely":[31,89],"camera":[32,49],"and":[33,50,93,168],"lidar,":[34],"combined":[35],"with":[36,137,165],"state-of-the-art":[37,166],"fusion-based":[38],"algorithms,":[40,88],"camera-lidar":[41,151,190],"data":[42,52],"produce":[43],"superior":[44,158],"perception":[45],"results.":[46],"However,":[47],"fusing":[48],"lidar":[51],"requires":[53],"known":[54],"extrinsic":[55],"calibration":[56,79,106,142,152,171],"parameters":[57],"properly":[59],"combine":[60],"these":[61],"modalities,":[62],"which":[63],"can":[64,130],"change":[65],"during":[66],"an":[67],"vehicle's":[69],"operation.":[70],"In":[71],"this":[72,179],"paper,":[73],"we":[74,108],"taxonomize":[75],"leading":[77],"targetless":[78,105],"methods":[80,153],"into":[81],"three":[82],"categories":[83],"based":[84],"on":[85,192],"their":[86],"underlying":[87],"feature,":[90],"information":[91,169],"theory,":[92],"learning-based":[94,150],"methods.":[95,172],"To":[96,173],"showcase":[97],"impact":[99,188],"selecting":[101],"a":[102,182],"specific":[103,114],"automatic":[104],"method,":[107],"evaluate":[109],"robustness":[111],"each":[113],"method":[115],"context":[118],"detection.":[122],"We":[123,144],"demonstrate":[124],"that":[125,147],"effects":[127],"miscalibration":[129,191],"cause":[131],"severe":[132],"degradations":[133],"performance,":[135],"even":[136],"seemingly":[138],"small":[139],"changes":[140],"parameters.":[143],"also":[145],"find":[146],"most":[148],"recent":[149],"lead":[154],"equivalent":[156],"or":[157],"3D":[159],"performance":[162,194],"when":[163],"compared":[164],"feature":[167],"theory-based":[170],"best":[175],"our":[177],"knowledge,":[178],"work":[180],"represents":[181],"first":[183],"attempt":[184],"at":[185],"analyzing":[186],"frameworks.":[199]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
