{"id":"https://openalex.org/W4385324011","doi":"https://doi.org/10.1109/iv55152.2023.10186613","title":"End-to-End Lidar-Camera Self-Calibration for Autonomous Vehicles","display_name":"End-to-End Lidar-Camera Self-Calibration for Autonomous Vehicles","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385324011","doi":"https://doi.org/10.1109/iv55152.2023.10186613"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5059318435","display_name":"Arya Rachman","orcid":"https://orcid.org/0000-0002-7939-4043"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arya Rachman","raw_affiliation_strings":["Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034495569","display_name":"J\u00fcrgen Seiler","orcid":"https://orcid.org/0000-0001-5295-893X"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00fcrgen Seiler","raw_affiliation_strings":["Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062850220","display_name":"Andr\u00e9 Kaup","orcid":"https://orcid.org/0000-0002-0929-5074"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andr\u00e9 Kaup","raw_affiliation_strings":["Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universität Erlangen-Nürnberg,Multimedia Communications and Signal Processing,Erlangen,Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6251,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.90083889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9927999973297119,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9696999788284302,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8026822805404663},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6335451006889343},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.6181544065475464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5745355486869812},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5342139005661011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4687390923500061},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.45407968759536743},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.34883707761764526},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21455365419387817},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10335731506347656}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8026822805404663},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6335451006889343},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.6181544065475464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745355486869812},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5342139005661011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4687390923500061},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.45407968759536743},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.34883707761764526},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21455365419387817},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10335731506347656},{"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/iv55152.2023.10186613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6800000071525574,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322835","display_name":"Ministry of Economic Affairs","ror":"https://ror.org/042ge0913"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2048249748","https://openalex.org/W2115579991","https://openalex.org/W2144042618","https://openalex.org/W2151103935","https://openalex.org/W2167667767","https://openalex.org/W2194187530","https://openalex.org/W2194775991","https://openalex.org/W2751758023","https://openalex.org/W2903345161","https://openalex.org/W3009094588","https://openalex.org/W3009394976","https://openalex.org/W3011462663","https://openalex.org/W3014957855","https://openalex.org/W3158910630","https://openalex.org/W3175380624","https://openalex.org/W4220808978","https://openalex.org/W4308080092","https://openalex.org/W4308236846","https://openalex.org/W4313034548","https://openalex.org/W4313063527","https://openalex.org/W4383109203","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"are":[2],"equipped":[3],"with":[4,168,175],"a":[5,24,133,143,169,176],"multi-modal":[6],"sensor":[7],"setup":[8],"to":[9,13,44,57,62,136,142,201],"enable":[10],"the":[11,46,50,86,98,120,124,138],"car":[12],"drive":[14],"safely.":[15],"The":[16,128],"initial":[17],"calibration":[18,47,88],"of":[19,66,172,185],"such":[20],"perception":[21],"sensors":[22,60],"is":[23,29,56,130],"highly":[25],"matured":[26],"topic":[27],"and":[28,93,104,113,123,151,164],"routinely":[30],"done":[31],"in":[32,132,147,197],"an":[33,38,79,182],"automated":[34],"factory":[35],"environment.":[36],"However,":[37],"intriguing":[39],"question":[40],"arises":[41],"on":[42],"how":[43,186],"maintain":[45],"quality":[48],"throughout":[49],"vehicle\u2019s":[51],"operating":[52],"duration.":[53],"Another":[54],"challenge":[55],"calibrate":[58],"multiple":[59],"jointly":[61,96],"ensure":[63],"no":[64],"propagation":[65],"systemic":[67],"errors.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72,161],"propose":[73],"Camera":[74],"Lidar":[75,125],"Calibration":[76],"Network":[77],"(CaLiCaNet),":[78],"end-to-end":[80,188],"deep":[81],"self-calibration":[82],"network":[83,129,139],"which":[84],"addresses":[85],"automatic":[87],"problem":[89],"for":[90],"pinhole":[91],"camera":[92,99,121,152],"Lidar.":[94],"We":[95,179],"predict":[97],"intrinsic":[100],"parameters":[101,111],"(focal":[102],"length":[103],"distortion)":[105],"as":[106,108],"well":[107],"Lidar-Camera":[109],"extrinsic":[110],"(rotation":[112],"translation),":[114],"by":[115],"regressing":[116],"feature":[117,146],"correlation":[118],"between":[119],"image":[122],"point":[126,149],"cloud.":[127],"arranged":[131],"Siamese-twin":[134],"structure":[135],"constrain":[137],"features":[140],"learning":[141,189],"mutually":[144],"shared":[145],"both":[148],"cloud":[150],"(Lidar-camera":[153],"constraint).":[154],"Evaluation":[155],"using":[156],"KITTI":[157],"datasets":[158],"shows":[159],"that":[160],"achieve":[162],"0.154\u00b0":[163],"0.059":[165],"m":[166],"accuracy":[167],"reprojection":[170],"error":[171],"0.028":[173],"pixel":[174],"single-pass":[177],"inference.":[178],"also":[180],"provide":[181],"ablative":[183],"study":[184],"our":[187],"architecture":[190],"offers":[191],"lower":[192],"terminal":[193],"loss":[194],"(21%":[195],"decrease":[196],"rotation":[198],"loss)":[199],"compared":[200],"isolated":[202],"calibration.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}