{"id":"https://openalex.org/W4385323775","doi":"https://doi.org/10.1109/iv55152.2023.10186703","title":"Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation","display_name":"Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385323775","doi":"https://doi.org/10.1109/iv55152.2023.10186703"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186703","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/A5037554554","display_name":"Markus Horn","orcid":"https://orcid.org/0000-0002-1981-283X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Markus Horn","raw_affiliation_strings":["Ulm University,Institute of Measurement, Control and Microtechnology,Germany","Institute of Measurement, Control and Microtechnology Ulm University, Germany"],"affiliations":[{"raw_affiliation_string":"Ulm University,Institute of Measurement, Control and Microtechnology,Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035335764","display_name":"Thomas Wodtko","orcid":"https://orcid.org/0000-0001-5151-8553"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wodtko","raw_affiliation_strings":["Ulm University,Institute of Measurement, Control and Microtechnology,Germany","Institute of Measurement, Control and Microtechnology Ulm University, Germany"],"affiliations":[{"raw_affiliation_string":"Ulm University,Institute of Measurement, Control and Microtechnology,Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086575471","display_name":"Michael Buchholz","orcid":"https://orcid.org/0000-0001-5973-0794"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Buchholz","raw_affiliation_strings":["Ulm University,Institute of Measurement, Control and Microtechnology,Germany","Institute of Measurement, Control and Microtechnology Ulm University, Germany"],"affiliations":[{"raw_affiliation_string":"Ulm University,Institute of Measurement, Control and Microtechnology,Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Ulm University,Institute of Measurement, Control and Microtechnology,Germany","Institute of Measurement, Control and Microtechnology Ulm University, Germany"],"affiliations":[{"raw_affiliation_string":"Ulm University,Institute of Measurement, Control and Microtechnology,Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037554554"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":1.0772,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73896718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944999814033508,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/leverage","display_name":"Leverage (statistics)","score":0.7925536036491394},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6725549697875977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6468319296836853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6460171937942505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5816059708595276},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5522829294204712},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5361772179603577},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.47060900926589966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.167871356010437},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16501176357269287}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7925536036491394},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6725549697875977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6468319296836853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6460171937942505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5816059708595276},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5522829294204712},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5361772179603577},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.47060900926589966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.167871356010437},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16501176357269287},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186703","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":[{"score":0.6299999952316284,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1495976112","https://openalex.org/W1994349244","https://openalex.org/W1998058414","https://openalex.org/W2056341306","https://openalex.org/W2072884984","https://openalex.org/W2085261163","https://openalex.org/W2093273191","https://openalex.org/W2121349631","https://openalex.org/W2127220039","https://openalex.org/W2138792236","https://openalex.org/W2144995066","https://openalex.org/W2158288882","https://openalex.org/W2167916881","https://openalex.org/W2324303144","https://openalex.org/W2341949230","https://openalex.org/W2344474200","https://openalex.org/W2590234360","https://openalex.org/W2610305606","https://openalex.org/W2885344251","https://openalex.org/W2901829831","https://openalex.org/W2902144984","https://openalex.org/W2905381654","https://openalex.org/W2952554474","https://openalex.org/W2963774609","https://openalex.org/W2964186846","https://openalex.org/W2990557209","https://openalex.org/W3092546177","https://openalex.org/W3123212140","https://openalex.org/W3127859456","https://openalex.org/W3180820165","https://openalex.org/W4205475476","https://openalex.org/W4221138521","https://openalex.org/W4250589301","https://openalex.org/W4308080348","https://openalex.org/W6683604425"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W5922282","https://openalex.org/W2954004777","https://openalex.org/W2949638731","https://openalex.org/W2951102138","https://openalex.org/W4299447939"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,27,44,78],"certifiably":[3],"globally":[4],"optimal":[5],"approach":[6,82,97],"for":[7,25,47],"solving":[8],"the":[9,48,70,99,103],"hand-eye":[10,50],"robot-world":[11,51],"problem":[12,52],"supporting":[13],"multiple":[14],"sensors":[15,39],"and":[16,88],"targets":[17],"at":[18],"once.":[19],"Further,":[20],"we":[21,60],"leverage":[22],"this":[23],"formulation":[24],"estimating":[26],"geo-referenced":[28],"calibration":[29,74],"of":[30,73],"infrastructure":[31,38],"sensors.":[32],"Since":[33],"vehicle":[34],"motion":[35],"recorded":[36],"by":[37],"is":[40,53,102],"mostly":[41],"planar,":[42],"obtaining":[43],"unique":[45,79],"solution":[46],"respective":[49],"unfeasible":[54],"without":[55],"incorporating":[56],"additional":[57],"knowledge.":[58],"Hence,":[59],"extend":[61],"our":[62,96],"proposed":[63],"method":[64,105],"to":[65,76],"include":[66],"a-priori":[67],"knowledge,":[68],"i.e.,":[69],"translation":[71,100],"norm":[72,101],"targets,":[75],"yield":[77],"solution.":[80],"Our":[81],"achieves":[83],"state-of-the-art":[84],"results":[85],"on":[86,92],"simulated":[87],"real-world":[89,93],"data.":[90],"Especially":[91],"intersection":[94],"data,":[95],"utilizing":[98],"only":[104],"providing":[106],"accurate":[107],"results.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
