{"id":"https://openalex.org/W2922483979","doi":"https://doi.org/10.1109/robio.2018.8665256","title":"Extrinsic Calibration of Lidar and Camera with Polygon","display_name":"Extrinsic Calibration of Lidar and Camera with Polygon","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2922483979","doi":"https://doi.org/10.1109/robio.2018.8665256","mag":"2922483979"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5108650226","display_name":"Qinghai Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qinghai Liao","raw_affiliation_strings":["Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014739925","display_name":"Zhengyong Chen","orcid":"https://orcid.org/0000-0002-9864-3105"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhenyong Chen","raw_affiliation_strings":["Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356119","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0003-2252-3665"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775481","display_name":"Zhe Wang","orcid":"https://orcid.org/0000-0002-2231-1606"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhe Wang","raw_affiliation_strings":["Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering Engineering, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"200","last_page":"205"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9991999864578247,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9986000061035156,"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/polygon","display_name":"Polygon (computer graphics)","score":0.8340301513671875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7341889142990112},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7082011103630066},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6130295395851135},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.608134388923645},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.598545253276825},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5744581818580627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.549591064453125},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.455305278301239},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4274420142173767},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2070983350276947},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10597112774848938},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10297513008117676}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.8340301513671875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7341889142990112},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7082011103630066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6130295395851135},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.608134388923645},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.598545253276825},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5744581818580627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.549591064453125},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.455305278301239},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4274420142173767},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2070983350276947},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10597112774848938},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10297513008117676},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2018.8665256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.ust.hk:1783.1-96864","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-96864","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1575087183","https://openalex.org/W1954459237","https://openalex.org/W1991544872","https://openalex.org/W1992989752","https://openalex.org/W1999343901","https://openalex.org/W2021278996","https://openalex.org/W2033819227","https://openalex.org/W2064684591","https://openalex.org/W2082511574","https://openalex.org/W2093220968","https://openalex.org/W2116672260","https://openalex.org/W2133505209","https://openalex.org/W2134019518","https://openalex.org/W2150382645","https://openalex.org/W2153054365","https://openalex.org/W2156412592","https://openalex.org/W2167667767","https://openalex.org/W2217105717","https://openalex.org/W2246782745","https://openalex.org/W2518401284","https://openalex.org/W2587111463","https://openalex.org/W2597078560","https://openalex.org/W2620406343","https://openalex.org/W3143504974","https://openalex.org/W6688774849","https://openalex.org/W6691189842","https://openalex.org/W6738649838"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Fusion":[0],"of":[1,15,25,35,42,98],"heterogeneous":[2,36],"exteroceptive":[3],"sensors":[4],"is":[5,39],"the":[6,13,16,40,44,54,74,95,117,128,133,142,145,152,164,168,178],"most":[7],"efficient":[8],"and":[9,104,114,126,135,147,182],"effective":[10],"path":[11],"to":[12,52,80,140,158,162],"representation":[14],"environment":[17],"precisely,":[18],"as":[19],"it":[20,78],"can":[21],"compromise":[22],"various":[23],"drawbacks":[24],"each":[26],"homogeneous":[27],"sensor.":[28],"The":[29,185],"rigid":[30],"transformation":[31],"(aka.":[32],"extrinsic":[33,55,91,96,165,189],"parameters)":[34],"sensory":[37],"systems":[38],"prerequisite":[41],"fusing":[43],"multi-sensor":[45],"information.":[46],"Researchers":[47],"have":[48],"proposed":[49],"several":[50],"approaches":[51,59],"estimate":[53],"parameters.":[56,166],"However,":[57],"these":[58],"neither":[60],"rely":[61],"on":[62,110],"human":[63],"interventions":[64],"or":[65,70,82],"specifically":[66],"designed":[67],"auxiliary":[68],"object":[69],"do":[71],"not":[72],"provide":[73],"library":[75],"which":[76,107],"makes":[77],"hard":[79],"test":[81],"benchmark.":[83],"In":[84,120],"this":[85,121],"paper,":[86,122],"we":[87,115,123,138,155,170],"propose":[88],"a":[89,99,105,111],"novel":[90],"calibration":[92,97,190],"approach":[93,173],"for":[94],"Lidar":[100,181],"(Laser":[101],"Range":[102],"Finder)":[103],"camera":[106],"only":[108],"based":[109],"polygon":[112,130,143],"board":[113],"offer":[116],"relevant":[118],"tools.":[119],"firstly":[124],"track":[125],"extract":[127],"target":[129],"from":[131],"both":[132],"image":[134],"point-cloud.":[136],"Then":[137],"try":[139],"match":[141],"between":[144],"2D":[146],"3D":[148],"feature":[149],"spaces.":[150],"With":[151],"associated":[153],"polygon,":[154],"are":[156],"able":[157],"get":[159],"multiple":[160],"constraints":[161],"optimize":[163],"At":[167],"end,":[169],"validate":[171],"our":[172],"by":[174],"four":[175],"configurations,":[176],"including":[177],"simulation,":[179],"t6/32-beam":[180],"100-line":[183],"MEMS-Lidar.":[184],"outcome":[186],"indicates":[187],"high-precision":[188],"performance.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
