{"id":"https://openalex.org/W4402830327","doi":"https://doi.org/10.1109/lra.2024.3468090","title":"Automatic Target-Less Camera-LiDAR Calibration From Motion and Deep Point Correspondences","display_name":"Automatic Target-Less Camera-LiDAR Calibration From Motion and Deep Point Correspondences","publication_year":2024,"publication_date":"2024-09-25","ids":{"openalex":"https://openalex.org/W4402830327","doi":"https://doi.org/10.1109/lra.2024.3468090"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3468090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3468090","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/A5076423835","display_name":"K\u00fcrsat Petek","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"K\u00fcrsat Petek","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Engineering, University of Technology Nuremberg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074516459","display_name":"Niclas V\u00f6disch","orcid":"https://orcid.org/0000-0001-8700-479X"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niclas V\u00f6disch","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Engineering, University of Technology Nuremberg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102937540","display_name":"Johannes Meyer","orcid":"https://orcid.org/0000-0002-0809-9311"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Meyer","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Engineering, University of Technology Nuremberg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078238515","display_name":"Daniele Cattaneo","orcid":"https://orcid.org/0000-0001-6662-5810"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniele Cattaneo","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Engineering, University of Technology Nuremberg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Department of Engineering, University of Technology Nuremberg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I4210100612","display_name":"Georg Simon Ohm University of Applied Sciences Nuremberg","ror":"https://ror.org/00nggaz43","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210100612"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]},{"id":"https://openalex.org/I65760639","display_name":"Wolfram Research (United States)","ror":"https://ror.org/03k118f17","country_code":"US","type":"company","lineage":["https://openalex.org/I65760639"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Engineering, University of Technology Nuremberg, Nürnberg, Germany","Wolfram Burgard"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Nürnberg, Germany","institution_ids":["https://openalex.org/I4210100612","https://openalex.org/I4387153582"]},{"raw_affiliation_string":"Wolfram Burgard","institution_ids":["https://openalex.org/I65760639"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5076423835"],"corresponding_institution_ids":["https://openalex.org/I161046081","https://openalex.org/I3130238102","https://openalex.org/I4387153582"],"apc_list":null,"apc_paid":null,"fwci":6.0759,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96510307,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"11","first_page":"9978","last_page":"9985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7167943120002747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7125348448753357},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6675609350204468},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5919612050056458},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5546773076057434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255756974220276},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48288917541503906},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.46061253547668457},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.43167799711227417},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4131964147090912},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.41190606355667114},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.33652329444885254},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2738703489303589},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20413097739219666},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10666206479072571}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7167943120002747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7125348448753357},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6675609350204468},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5919612050056458},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5546773076057434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255756974220276},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48288917541503906},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.46061253547668457},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.43167799711227417},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4131964147090912},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.41190606355667114},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.33652329444885254},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2738703489303589},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20413097739219666},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10666206479072571},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3468090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3468090","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"},{"id":"pmh:oai:freidok.uni-freiburg.de:264389","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/264389","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and automation letters. - 9, 11 (2024) , 9978-9985, ISSN: 2377-3766","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1575087183","https://openalex.org/W2072697225","https://openalex.org/W2093220968","https://openalex.org/W2115579991","https://openalex.org/W2133505209","https://openalex.org/W2153054365","https://openalex.org/W2567328166","https://openalex.org/W2620406343","https://openalex.org/W2963270286","https://openalex.org/W2964186846","https://openalex.org/W2989819309","https://openalex.org/W2995949129","https://openalex.org/W3043971245","https://openalex.org/W3046240082","https://openalex.org/W3088256830","https://openalex.org/W3091687063","https://openalex.org/W3104502516","https://openalex.org/W3132308129","https://openalex.org/W3175380624","https://openalex.org/W3183685035","https://openalex.org/W4210423514","https://openalex.org/W4220808978","https://openalex.org/W4313063527","https://openalex.org/W4320713350","https://openalex.org/W4383097439","https://openalex.org/W4383109190","https://openalex.org/W4385283444","https://openalex.org/W4385804974","https://openalex.org/W4390872460","https://openalex.org/W4391518157","https://openalex.org/W4392971361","https://openalex.org/W4394593174","https://openalex.org/W6674382959","https://openalex.org/W6738649838","https://openalex.org/W6752151526","https://openalex.org/W6801880476","https://openalex.org/W6838956374","https://openalex.org/W6860878903","https://openalex.org/W6862721738"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2922939509","https://openalex.org/W3130706162","https://openalex.org/W2811307883","https://openalex.org/W3199889907","https://openalex.org/W3089365509","https://openalex.org/W2281664702","https://openalex.org/W2946815544","https://openalex.org/W4304588811"],"abstract_inverted_index":{"Sensor":[0],"setups":[1],"of":[2,126],"robotic":[3,137],"platforms":[4,138],"commonly":[5],"include":[6],"both":[7],"camera":[8],"and":[9,61,85,95,112,147],"LiDAR":[10,62],"as":[11,64,66,81],"they":[12],"provide":[13],"complementary":[14],"information.":[15],"However,":[16],"fusing":[17],"these":[18],"two":[19],"modalities":[20],"typically":[21],"requires":[22,44],"a":[23,37,123,140,144,148],"highly":[24,107],"accurate":[25,108],"calibration":[26,42,80,110],"between":[27],"them.":[28],"In":[29,98],"this":[30],"letter,":[31],"we":[32,54,101,130],"propose":[33],"MDPCalib":[34],"which":[35,129],"is":[36,113],"novel":[38],"method":[39],"for":[40],"camera-LiDAR":[41,79],"that":[43,71,103],"neither":[45],"human":[46],"supervision":[47],"nor":[48],"any":[49],"specific":[50],"target":[51],"objects.":[52],"Instead,":[53],"utilize":[55],"sensor":[56,93,127],"motion":[57,94],"estimates":[58],"from":[59,92],"visual":[60],"odometry":[63],"well":[65],"deep":[67],"learning-based":[68],"2D-pixel-to-3D-point":[69],"correspondences":[70],"are":[72],"obtained":[73],"without":[74],"in-domain":[75],"retraining.":[76],"We":[77],"represent":[78],"an":[82],"optimization":[83],"problem":[84],"minimize":[86],"the":[87],"costs":[88],"induced":[89],"by":[90,132],"constraints":[91],"point":[96],"correspondences.":[97],"extensive":[99],"experiments,":[100],"demonstrate":[102,131],"our":[104,119],"approach":[105,120],"yields":[106],"extrinsic":[109],"parameters":[111],"robust":[114],"to":[115,122],"random":[116],"initialization.":[117],"Additionally,":[118],"generalizes":[121],"wide":[124],"range":[125],"setups,":[128],"employing":[133],"it":[134],"on":[135],"various":[136],"including":[139],"self-driving":[141],"perception":[142],"car,":[143],"quadruped":[145],"robot,":[146],"UAV.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}