{"id":"https://openalex.org/W4400644513","doi":"https://doi.org/10.1109/iv55156.2024.10588429","title":"Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization","display_name":"Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400644513","doi":"https://doi.org/10.1109/iv55156.2024.10588429"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5102933838","display_name":"Wonho Song","orcid":"https://orcid.org/0000-0002-3336-9256"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Wonho Song","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083396090","display_name":"Minho Oh","orcid":"https://orcid.org/0000-0003-4324-1368"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minho Oh","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334524","display_name":"Jae-Young Lee","orcid":"https://orcid.org/0000-0001-8359-3021"},"institutions":[{"id":"https://openalex.org/I4210143937","display_name":"Hanwha Solutions (South Korea)","ror":"https://ror.org/05dmq6f22","country_code":"KR","type":"company","lineage":["https://openalex.org/I4210143937","https://openalex.org/I4403386467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeyoung Lee","raw_affiliation_strings":["Hanwha Aerospace,Gyeonggi-do,Republic of Korea,13488"],"affiliations":[{"raw_affiliation_string":"Hanwha Aerospace,Gyeonggi-do,Republic of Korea,13488","institution_ids":["https://openalex.org/I4210143937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102933838"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":5.3012,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.95034023,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"217","last_page":"223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/initialization","display_name":"Initialization","score":0.8136236667633057},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7631220817565918},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7147892713546753},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.7141209244728088},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.6258046627044678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6055862903594971},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3999427855014801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3513358235359192},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.26997584104537964},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14959904551506042},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11209625005722046}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8136236667633057},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7631220817565918},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7147892713546753},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.7141209244728088},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.6258046627044678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6055862903594971},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3999427855014801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3513358235359192},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.26997584104537964},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14959904551506042},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11209625005722046},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5899999737739563,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326288","display_name":"K2","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1990398405","https://openalex.org/W2085261163","https://openalex.org/W2111365302","https://openalex.org/W2150066425","https://openalex.org/W2156412592","https://openalex.org/W2399453552","https://openalex.org/W2518401284","https://openalex.org/W2908599206","https://openalex.org/W2909816247","https://openalex.org/W2963270286","https://openalex.org/W2967926749","https://openalex.org/W3090232188","https://openalex.org/W3101587859","https://openalex.org/W3120910864","https://openalex.org/W3136025880","https://openalex.org/W3183685035","https://openalex.org/W3205078851","https://openalex.org/W4214820331","https://openalex.org/W4226007707","https://openalex.org/W4226391002","https://openalex.org/W4285150423","https://openalex.org/W4285214585","https://openalex.org/W4312612710","https://openalex.org/W4383097439","https://openalex.org/W4385656324","https://openalex.org/W4388233233","https://openalex.org/W4389666336","https://openalex.org/W6752151526"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3204184292","https://openalex.org/W4281783339","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"With":[0],"the":[1,10,25,61,74,124,128],"rapid":[2],"development":[3],"of":[4,12],"autonomous":[5,13],"driving":[6],"and":[7,64,70,92,99,127],"SLAM":[8],"technology,":[9],"performance":[11],"systems":[14],"using":[15],"multimodal":[16],"sensors":[17],"highly":[18],"relies":[19],"on":[20,88,123],"accurate":[21],"extrinsic":[22,46],"calibration.":[23],"Addressing":[24],"need":[26],"for":[27,50],"a":[28,41,93],"convenient,":[29],"maintenance-friendly":[30],"calibration":[31,47,75,105],"process":[32],"in":[33,54,118],"any":[34,55],"natural":[35,56,120],"environment,":[36],"this":[37],"paper":[38],"introduces":[39],"Galibr,":[40],"fully":[42],"automatic":[43],"targetless":[44],"LiDAR-camera":[45],"tool":[48],"designed":[49],"ground":[51,62,89],"vehicle":[52],"platforms":[53],"setting.":[57],"The":[58],"method":[59],"utilizes":[60],"planes":[63,90],"edge":[65,97],"information":[66],"from":[67],"both":[68],"LiDAR":[69],"camera":[71],"inputs,":[72],"streamlining":[73],"process.":[76],"It":[77],"encompasses":[78],"two":[79],"main":[80],"steps:":[81],"an":[82],"initial":[83,112],"pose":[84,113],"estimation":[85,114],"algorithm":[86],"based":[87],"(GP-init),":[91],"refinement":[94],"phase":[95],"through":[96],"extraction":[98],"matching.":[100],"Our":[101],"approach":[102],"significantly":[103],"enhances":[104],"performance,":[106],"primarily":[107],"attributed":[108],"to":[109],"our":[110],"novel":[111],"method,":[115],"as":[116],"demonstrated":[117],"unstructured":[119],"environments,":[121],"including":[122],"KITTI":[125],"dataset":[126],"KAIST":[129],"quadruped":[130],"dataset.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":6}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}