{"id":"https://openalex.org/W2998852195","doi":"https://doi.org/10.1109/lra.2020.2965878","title":"Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP","display_name":"Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP","publication_year":2020,"publication_date":"2020-01-14","ids":{"openalex":"https://openalex.org/W2998852195","doi":"https://doi.org/10.1109/lra.2020.2965878","mag":"2998852195"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2965878","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965878","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08957228.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08957228.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014158669","display_name":"Arne Peters","orcid":"https://orcid.org/0000-0002-0620-3154"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Arne Peters","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Garching, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0620-3154","affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082436527","display_name":"Adam Schmidt","orcid":"https://orcid.org/0000-0003-4769-4313"},"institutions":[{"id":"https://openalex.org/I148297040","display_name":"Netherlands Organisation for Applied Scientific Research","ror":"https://ror.org/01bnjb948","country_code":"NL","type":"nonprofit","lineage":["https://openalex.org/I148297040"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Adam Schmidt","raw_affiliation_strings":["Netherlands Organization for Applied Scientific Research (TNO), Eindhoven, The Netherlands","Technical University of Munich, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Netherlands Organization for Applied Scientific Research (TNO), Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I148297040"]},{"raw_affiliation_string":"Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois C. Knoll","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014158669"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":19.5484,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98594215,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"929","last_page":"936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12549","display_name":"Image and Object Detection Techniques","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7549604773521423},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7331565618515015},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6964904069900513},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6450306177139282},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6089593172073364},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5874525308609009},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5731005668640137},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.560460090637207},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5334183573722839},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5275313854217529},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4934622347354889},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.43689724802970886},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4311142563819885},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.4265037775039673},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4262070655822754},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.41888052225112915},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2675778269767761},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.255437433719635},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23117050528526306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13260233402252197},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08189603686332703}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7549604773521423},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7331565618515015},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6964904069900513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6450306177139282},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6089593172073364},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5874525308609009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5731005668640137},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.560460090637207},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5334183573722839},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5275313854217529},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4934622347354889},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.43689724802970886},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4311142563819885},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.4265037775039673},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4262070655822754},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.41888052225112915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2675778269767761},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.255437433719635},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23117050528526306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13260233402252197},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08189603686332703},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.2965878","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965878","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08957228.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1538384","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1538384","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:zenodo.org:3817196","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2020.2965878","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 5(2), 929--936, (2020-05-08)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2020.2965878","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965878","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08957228.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G3110145427","display_name":null,"funder_award_id":"870133","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8587817308","display_name":"Smart integrated Robotics system for SMEs controlled by Internet of Things based on dynamic manufacturing processes","funder_award_id":"680734","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2998852195.pdf","grobid_xml":"https://content.openalex.org/works/W2998852195.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W67011681","https://openalex.org/W92914038","https://openalex.org/W1481925518","https://openalex.org/W1916032989","https://openalex.org/W1955356234","https://openalex.org/W1987648924","https://openalex.org/W1990350654","https://openalex.org/W1999371739","https://openalex.org/W2004421951","https://openalex.org/W2012408174","https://openalex.org/W2063306916","https://openalex.org/W2063549868","https://openalex.org/W2083624955","https://openalex.org/W2085280799","https://openalex.org/W2087070363","https://openalex.org/W2126765661","https://openalex.org/W2165558283","https://openalex.org/W2215781905","https://openalex.org/W2256578114","https://openalex.org/W2503967141","https://openalex.org/W2883275886","https://openalex.org/W3099763198","https://openalex.org/W3143504974","https://openalex.org/W7045994181"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4320058782","https://openalex.org/W2196111060","https://openalex.org/W2807666361","https://openalex.org/W4213431252","https://openalex.org/W2120071540","https://openalex.org/W4306760020","https://openalex.org/W2528465333","https://openalex.org/W2757636402"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,15,21,29,61,105,111],"calibration":[3,43],"method":[4],"for":[5,110],"the":[6,47,54,69,73,83,93,102,136,155,158],"six":[7],"degrees":[8],"of":[9,14,39,53,72,87,104,113,145,157],"freedom":[10],"(DOF)":[11],"extrinsic":[12],"pose":[13],"2D":[16],"laser":[17],"rangefinder":[18],"mounted":[19],"to":[20,27,67,100],"robot":[22,94],"arm.":[23],"Our":[24,123],"goal":[25],"is":[26],"design":[28],"system":[30],"that":[31,135],"allows":[32],"on-site":[33],"re-calibration":[34],"without":[35],"requiring":[36],"any":[37],"kind":[38],"special":[40],"environment":[41],"or":[42],"objects.":[44],"By":[45],"moving":[46],"sensor":[48],"we":[49,59,79],"generate":[50],"3D":[51,89,108],"scans":[52],"surrounding":[55],"area":[56],"on":[57,126,147],"which":[58],"run":[60],"iterative":[62],"closest":[63],"point":[64],"(ICP)":[65],"variant":[66],"estimate":[68],"missing":[70],"part":[71],"kinematic":[74],"chain.":[75],"With":[76],"this":[77],"setup":[78],"can":[80],"simply":[81],"scale":[82],"density":[84],"and":[85,96,120],"format":[86],"our":[88],"scan":[90],"by":[91],"adjusting":[92],"speed":[95],"trajectory,":[97],"allowing":[98],"us":[99],"exploit":[101],"power":[103],"high":[106],"resolution":[107],"scanner":[109],"variety":[112],"tasks":[114],"such":[115],"as":[116,129,131,151,153],"mapping,":[117],"object":[118],"recognition":[119],"grasp":[121],"planning.":[122],"evaluation,":[124],"performed":[125],"synthetic":[127],"datasets":[128],"well":[130,152],"from":[132],"real-data":[133],"shows":[134],"presented":[137],"approach":[138],"provides":[139],"good":[140],"results":[141],"both":[142],"in":[143,154],"terms":[144],"convergence":[146],"crude":[148],"initial":[149],"parameters":[150],"precision":[156],"final":[159],"estimate.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}