{"id":"https://openalex.org/W4405362354","doi":"https://doi.org/10.1109/lars64411.2024.10786423","title":"Extrinsic LiDAR-Robot And LiDAR-Camera Calibration For Multi-sensor Fusion*","display_name":"Extrinsic LiDAR-Robot And LiDAR-Camera Calibration For Multi-sensor Fusion*","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4405362354","doi":"https://doi.org/10.1109/lars64411.2024.10786423"},"language":"en","primary_location":{"id":"doi:10.1109/lars64411.2024.10786423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","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/A5015963499","display_name":"Gilmar P. Cruz","orcid":"https://orcid.org/0000-0002-8103-0206"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gilmar Pereira Da Cruz","raw_affiliation_strings":["Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061834397","display_name":"H\u00e9ctor Azp\u00farua","orcid":"https://orcid.org/0000-0002-4182-2540"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Hector Azp\u00farua","raw_affiliation_strings":["Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078821164","display_name":"Fernando Lizarralde","orcid":"https://orcid.org/0000-0003-0884-5940"},"institutions":[{"id":"https://openalex.org/I122140584","display_name":"Universidade Federal do Rio de Janeiro","ror":"https://ror.org/03490as77","country_code":"BR","type":"education","lineage":["https://openalex.org/I122140584"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Fernando Lizarralde","raw_affiliation_strings":["Universidade Federal do Rio de Janeiro,Electrical Engineering Program - COPPE,RJ,Brasil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal do Rio de Janeiro,Electrical Engineering Program - COPPE,RJ,Brasil","institution_ids":["https://openalex.org/I122140584"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034989154","display_name":"Gustavo Freitas","orcid":"https://orcid.org/0000-0001-5343-7028"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo Medeiros Freitas","raw_affiliation_strings":["Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais - Av. Ant&#x00F4;nio Carlos 6627,Graduate Program in Electrical Engineering,Belo Horizonte,MG,Brazil,31270-901","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3658,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67671891,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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/T10522","display_name":"Medical Imaging Techniques and Applications","score":0.8986999988555908,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10522","display_name":"Medical Imaging Techniques and Applications","score":0.8986999988555908,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.8683000206947327,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13209","display_name":"Cold Fusion and Nuclear Reactions","score":0.8019000291824341,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9175771474838257},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.7501225471496582},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6969929337501526},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.60003662109375},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.5351522564888},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.500070333480835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4063180387020111},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29848217964172363},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.21040073037147522},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06059989333152771}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9175771474838257},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.7501225471496582},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6969929337501526},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.60003662109375},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.5351522564888},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.500070333480835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4063180387020111},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29848217964172363},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21040073037147522},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06059989333152771},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars64411.2024.10786423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320322980","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de Minas Gerais","ror":"https://ror.org/00nc55f03"},{"id":"https://openalex.org/F4320324369","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1740891097","https://openalex.org/W2898231767","https://openalex.org/W2949316032","https://openalex.org/W2954312769","https://openalex.org/W2964571848","https://openalex.org/W2977977449","https://openalex.org/W2980040548","https://openalex.org/W3120321204","https://openalex.org/W3136025880","https://openalex.org/W3136838717","https://openalex.org/W3205251654","https://openalex.org/W4200250398","https://openalex.org/W4205574455","https://openalex.org/W4282830511","https://openalex.org/W4388806930"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"In":[0,23],"mobile":[1],"robotics,":[2],"an":[3,43,93],"essential":[4],"requirement":[5],"for":[6],"the":[7,20,26,71,82,86,99,108,114,117,126,129],"fusion":[8],"of":[9,101],"different":[10],"sensors":[11,29,127],"is":[12,32,58,122],"that":[13,120],"measurements":[14],"are":[15],"expressed":[16],"with":[17,128],"respect":[18],"to":[19,34,52,60,124],"same":[21],"reference.":[22],"this":[24,40],"sense,":[25],"transformation":[27,72,87],"between":[28,73,88],"and":[30,50,65,78,81,92,111],"robot":[31],"necessary":[33],"ensure":[35],"better":[36],"sensor":[37,45,77],"fusion.":[38],"Therefore,":[39],"article":[41],"proposes":[42],"extrinsic":[44],"calibration":[46,62],"based":[47],"on":[48,107],"markers":[49],"associated":[51],"three":[53],"orthogonal":[54],"planes.":[55],"This":[56],"technique":[57],"applied":[59],"two":[61],"approaches,":[63],"LiDAR-Robot":[64],"LiDAR-Camera.":[66],"The":[67],"first":[68],"one":[69],"calculates":[70,85],"a":[74,79,89],"3D":[75,90],"LiDAR":[76,91],"robot,":[80],"second":[83],"system":[84],"embedded":[94],"RGB":[95],"camera.":[96],"To":[97],"demonstrate":[98],"efficiency":[100],"our":[102],"method,":[103],"we":[104],"performed":[105],"simulations":[106],"CoppeliaSim":[109],"simulator":[110],"experiments":[112],"in":[113],"laboratory.":[115],"Then,":[116],"results":[118],"show":[119],"it":[121],"possible":[123],"calibrate":[125],"methodologies.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
