{"id":"https://openalex.org/W4212839470","doi":"https://doi.org/10.1109/lra.2022.3151970","title":"Camera-IMU Extrinsic Calibration Quality Monitoring for Autonomous Ground Vehicles","display_name":"Camera-IMU Extrinsic Calibration Quality Monitoring for Autonomous Ground Vehicles","publication_year":2022,"publication_date":"2022-02-16","ids":{"openalex":"https://openalex.org/W4212839470","doi":"https://doi.org/10.1109/lra.2022.3151970"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3151970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3151970","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-5151-2186","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044376195","display_name":"Yulin Zhang","orcid":"https://orcid.org/0000-0001-5098-7075"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yulin Zhang","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-5098-7075","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398341","display_name":"Haifeng Li","orcid":"https://orcid.org/0000-0002-0983-033X"},"institutions":[{"id":"https://openalex.org/I28813325","display_name":"Civil Aviation University of China","ror":"https://ror.org/03je71k37","country_code":"CN","type":"education","lineage":["https://openalex.org/I28813325"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifeng Li","raw_affiliation_strings":["Computer Science Department, Civil Aviation University of China, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0983-033X","affiliations":[{"raw_affiliation_string":"Computer Science Department, Civil Aviation University of China, Tianjin, China","institution_ids":["https://openalex.org/I28813325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608725","display_name":"Hongpeng Wang","orcid":"https://orcid.org/0000-0003-4488-1375"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongpeng Wang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4488-1375","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406167","display_name":"Binbin Li","orcid":"https://orcid.org/0000-0002-7018-1850"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Binbin Li","raw_affiliation_strings":["Department of Computer Science and Engineering, Texas A&amp;M University, College Station, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-7018-1850","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&amp;M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":6.0555,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.95333343,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"4614","last_page":"4621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9987999796867371,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.9398459196090698},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7334333658218384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6997619867324829},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.641204297542572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6053657531738281},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.45429176092147827},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38381338119506836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08010664582252502}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.9398459196090698},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7334333658218384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6997619867324829},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.641204297542572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6053657531738281},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.45429176092147827},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38381338119506836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08010664582252502},{"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/lra.2022.3151970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3151970","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2573596171","display_name":null,"funder_award_id":"91848203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7155779504","display_name":null,"funder_award_id":"61973173","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1970504153","https://openalex.org/W1998058414","https://openalex.org/W2025007236","https://openalex.org/W2033819227","https://openalex.org/W2048249748","https://openalex.org/W2091790851","https://openalex.org/W2115579991","https://openalex.org/W2138566468","https://openalex.org/W2158505966","https://openalex.org/W2418849765","https://openalex.org/W2590327367","https://openalex.org/W2726631490","https://openalex.org/W2745859992","https://openalex.org/W2758772066","https://openalex.org/W2767048994","https://openalex.org/W2768018028","https://openalex.org/W2775115763","https://openalex.org/W2783643898","https://openalex.org/W2887092226","https://openalex.org/W2903355354","https://openalex.org/W2909586669","https://openalex.org/W2909919731","https://openalex.org/W2962987986","https://openalex.org/W2963438829","https://openalex.org/W2977513556","https://openalex.org/W2979633827","https://openalex.org/W2980436761","https://openalex.org/W3003311976","https://openalex.org/W3007245826","https://openalex.org/W3091667825","https://openalex.org/W3104978629","https://openalex.org/W3119007448","https://openalex.org/W3130473112","https://openalex.org/W3131547931","https://openalex.org/W3181484951","https://openalex.org/W4205666856","https://openalex.org/W6658838613","https://openalex.org/W6745830181"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W2756332284","https://openalex.org/W2372609347","https://openalex.org/W1994559856","https://openalex.org/W2785359964"],"abstract_inverted_index":{"Highly":[0],"accurate":[1,31],"sensor":[2,21,90],"extrinsic":[3,85,122],"calibration":[4,86,123],"is":[5,70,73,96,132],"critical":[6],"for":[7,88],"data":[8,112],"fusion":[9],"from":[10],"multiple":[11],"sensors,":[12],"such":[13],"as":[14],"camera":[15],"and":[16,120,140],"Inertial":[17],"Measurement":[18],"Unit":[19],"(IMU)":[20],"suit.":[22],"A":[23],"pre-calibrated":[24],"extrinsics,":[25],"however,":[26],"may":[27],"no":[28],"longer":[29],"be":[30,135],"due":[32],"to":[33,42,83,92,104,113,134],"external":[34],"disturbances,":[35],"e.g.,":[36],"vehicle":[37],"vibration,":[38],"which":[39,72],"will":[40],"lead":[41],"significant":[43],"performance":[44],"deterioration":[45],"of":[46,60,117],"autonomous":[47],"vehicles.":[48],"Existing":[49],"approaches":[50],"rely":[51],"on":[52],"online":[53],"recalibration":[54,69,95],"at":[55],"a":[56],"fixed":[57],"frequency":[58],"regardless":[59],"whether":[61],"the":[62,115],"extrinsics":[63],"have":[64],"actually":[65,97],"been":[66],"changed":[67],"or":[68],"needed,":[71],"computationally":[74],"inefficient.":[75],"In":[76],"this":[77],"letter,":[78],"we":[79],"present":[80],"an":[81,101],"approach":[82],"monitor":[84],"quality":[87],"camera-IMU":[89],"suite":[91],"determine":[93],"when":[94],"necessary.":[98],"We":[99],"propose":[100],"efficient":[102],"algorithm":[103,131],"detect":[105],"robust":[106],"road":[107],"image":[108],"features,":[109,119],"utilize":[110],"IMU":[111],"capture":[114],"mismatches":[116],"those":[118],"quantify":[121],"error":[124,128],"through":[125],"three":[126],"commonly-used":[127],"metrics.":[129],"Our":[130],"demonstrated":[133],"effective":[136],"using":[137],"both":[138],"simulated":[139],"real-world":[141],"data.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
