{"id":"https://openalex.org/W4360995682","doi":"https://doi.org/10.1109/lra.2023.3262176","title":"Observability-Aware Online Multi-Lidar Extrinsic Calibration","display_name":"Observability-Aware Online Multi-Lidar Extrinsic Calibration","publication_year":2023,"publication_date":"2023-03-27","ids":{"openalex":"https://openalex.org/W4360995682","doi":"https://doi.org/10.1109/lra.2023.3262176"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3262176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3262176","pdf_url":null,"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":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/A5073429858","display_name":"Sandipan Das","orcid":"https://orcid.org/0000-0002-7528-1383"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Sandipan Das","raw_affiliation_strings":["EECS, KTH, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-7528-1383","affiliations":[{"raw_affiliation_string":"EECS, KTH, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029110065","display_name":"Ludvig af Klinteberg","orcid":"https://orcid.org/0000-0001-7425-8029"},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ludvig af Klinteberg","raw_affiliation_strings":["Scania CV AB, S&#x00F6;dert&#x00E4;lje, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-7425-8029","affiliations":[{"raw_affiliation_string":"Scania CV AB, S&#x00F6;dert&#x00E4;lje, Sweden","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2940-0879","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, U.K","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103454507","display_name":"Saikat Chatterjee","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Saikat Chatterjee","raw_affiliation_strings":["EECS, KTH, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, KTH, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073429858"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":11.1633,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97679521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"8","issue":"5","first_page":"2860","last_page":"2867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8520231246948242},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7403074502944946},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6714996099472046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6552989482879639},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6480892896652222},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5533633828163147},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.46947181224823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3573809266090393},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33007609844207764},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2185768485069275},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.19414612650871277},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13529211282730103},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11207711696624756}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8520231246948242},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7403074502944946},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6714996099472046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6552989482879639},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6480892896652222},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5533633828163147},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.46947181224823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3573809266090393},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33007609844207764},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2185768485069275},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.19414612650871277},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13529211282730103},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11207711696624756},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3262176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3262176","pdf_url":null,"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":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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1984239963","https://openalex.org/W1993267444","https://openalex.org/W1998058414","https://openalex.org/W2023269976","https://openalex.org/W2048249748","https://openalex.org/W2071523568","https://openalex.org/W2094801294","https://openalex.org/W2095885818","https://openalex.org/W2108107014","https://openalex.org/W2128019145","https://openalex.org/W2150382645","https://openalex.org/W2159012223","https://openalex.org/W2275872821","https://openalex.org/W2277848489","https://openalex.org/W2482726005","https://openalex.org/W2771252932","https://openalex.org/W2891440655","https://openalex.org/W2909908358","https://openalex.org/W2910261328","https://openalex.org/W2964117908","https://openalex.org/W3003277412","https://openalex.org/W3092844828","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3171246200","https://openalex.org/W3178901079","https://openalex.org/W4210423514","https://openalex.org/W4229445880","https://openalex.org/W4231071941","https://openalex.org/W4285102348","https://openalex.org/W4292544413","https://openalex.org/W4293775970"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W2098782634","https://openalex.org/W3000546688"],"abstract_inverted_index":{"Accurate":[0],"and":[1,57],"robust":[2,23],"extrinsic":[3,27,170],"calibration":[4,28,124,171],"is":[5,164],"necessary":[6],"for":[7,15,25,39,114,122,144,172],"deploying":[8],"autonomous":[9],"systems":[10],"which":[11],"need":[12,38],"multiple":[13,30],"sensors":[14],"perception.":[16],"In":[17],"this":[18,158],"letter,":[19],"we":[20,90],"present":[21],"a":[22,108,145],"system":[24],"real-time":[26,115],"of":[29,72,85,110,147,175],"lidars":[31],"in":[32,61,157],"vehicle":[33],"base":[34,46],"frame":[35],"without":[36],"the":[37,70,73,111,169],"any":[40],"fiducial":[41],"markers":[42],"or":[43],"features.":[44],"We":[45,117],"our":[47,99,128,162],"approach":[48,78,129,163],"on":[49,98,135],"matching":[50],"absolute":[51],"GNSS":[52],"(Global":[53],"Navigation":[54],"Satellite":[55],"System)":[56],"estimated":[58],"lidar":[59],"poses":[60,92,112],"real-time.":[62],"Comparing":[63],"rotation":[64],"components":[65,81],"allows":[66,104],"us":[67,105],"to":[68,106,166],"improve":[69],"robustness":[71],"solution":[74],"than":[75],"traditional":[76],"least-square":[77],"comparing":[79,86],"translation":[80],"only.":[82],"Additionally,":[83],"instead":[84],"all":[87],"corresponding":[88],"poses,":[89],"select":[91],"comprising":[93],"maximum":[94],"mutual":[95],"information":[96],"based":[97],"novel":[100],"observability":[101],"criteria.":[102],"This":[103],"identify":[107],"subset":[109],"helpful":[113],"calibration.":[116],"also":[118],"provide":[119],"stopping":[120],"criteria":[121],"ensuring":[123],"completion.":[125],"To":[126],"validate":[127],"extensive":[130],"tests":[131],"were":[132],"carried":[133],"out":[134],"data":[136],"collected":[137],"using":[138],"Scania":[139],"test":[140],"vehicles":[141],"(7":[142],"sequences":[143],"total":[146],"<inline-formula":[148],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[150],"notation=\"LaTeX\">$\\approx$</tex-math></inline-formula>":[151],"6.5":[152],"Km).":[153],"The":[154],"results":[155],"presented":[156],"letter":[159],"show":[160],"that":[161],"able":[165],"accurately":[167],"determine":[168],"various":[173],"combinations":[174],"sensor":[176],"setups.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-10-10T00:00:00"}