{"id":"https://openalex.org/W3119007448","doi":"https://doi.org/10.1109/tim.2021.3051726","title":"High-Precision Multicamera-Assisted Camera-IMU Calibration: Theory and Method","display_name":"High-Precision Multicamera-Assisted Camera-IMU Calibration: Theory and Method","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3119007448","doi":"https://doi.org/10.1109/tim.2021.3051726","mag":"3119007448"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3051726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3051726","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Transactions on Instrumentation and Measurement","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/A5009028269","display_name":"Bo Fu","orcid":"https://orcid.org/0000-0002-9332-5933"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bo Fu","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9332-5933","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075507033","display_name":"Fuzhang Han","orcid":"https://orcid.org/0000-0002-3992-2024"},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuzhang Han","raw_affiliation_strings":["Polytechnic Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-3992-2024","affiliations":[{"raw_affiliation_string":"Polytechnic Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088433220","display_name":"Yanmei Jiao","orcid":"https://orcid.org/0000-0002-5169-6111"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yanmei Jiao","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5169-6111","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088639775","display_name":"Xiaqing Ding","orcid":"https://orcid.org/0000-0001-7802-0130"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaqing Ding","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7802-0130","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016641861","display_name":"Qimeng Tan","orcid":"https://orcid.org/0000-0002-0648-3416"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qimeng Tan","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0648-3416","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Chen","orcid":"https://orcid.org/0000-0001-9936-3319"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Chen","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9936-3319","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080445457","display_name":"Minhang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minhang Wang","raw_affiliation_strings":["Application Innovate Lab, Huawei Incorporated Company, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8423-4095","affiliations":[{"raw_affiliation_string":"Application Innovate Lab, Huawei Incorporated Company, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9318-9014","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5009028269"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":38.3196,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.99550463,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"17"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8643834590911865},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.807571530342102},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.8013136982917786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7618154287338257},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6741745471954346},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5759870409965515},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.473522424697876},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.45817989110946655},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.45174288749694824},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4467858076095581},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21924492716789246},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0722464919090271},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06170564889907837}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8643834590911865},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.807571530342102},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.8013136982917786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7618154287338257},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6741745471954346},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5759870409965515},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.473522424697876},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.45817989110946655},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.45174288749694824},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4467858076095581},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21924492716789246},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0722464919090271},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06170564889907837}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3051726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3051726","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2586965523","display_name":null,"funder_award_id":"61903332","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W166817922","https://openalex.org/W1498041548","https://openalex.org/W1990398405","https://openalex.org/W1998058414","https://openalex.org/W2010315317","https://openalex.org/W2012408174","https://openalex.org/W2016761091","https://openalex.org/W2021063678","https://openalex.org/W2046033161","https://openalex.org/W2048249748","https://openalex.org/W2051349034","https://openalex.org/W2079054072","https://openalex.org/W2089995260","https://openalex.org/W2091790851","https://openalex.org/W2097649661","https://openalex.org/W2114084853","https://openalex.org/W2118223742","https://openalex.org/W2124313187","https://openalex.org/W2125188427","https://openalex.org/W2128832103","https://openalex.org/W2140924050","https://openalex.org/W2157142238","https://openalex.org/W2167340365","https://openalex.org/W2238582461","https://openalex.org/W2342437324","https://openalex.org/W2465948386","https://openalex.org/W2535547924","https://openalex.org/W2770176163","https://openalex.org/W2890376682","https://openalex.org/W2905274083","https://openalex.org/W2908571003","https://openalex.org/W2910261328","https://openalex.org/W2944100195","https://openalex.org/W2945114010","https://openalex.org/W2964307318","https://openalex.org/W2966651153","https://openalex.org/W2968949928","https://openalex.org/W3015620633","https://openalex.org/W3047743574","https://openalex.org/W3091667825","https://openalex.org/W3102327032","https://openalex.org/W3105489439","https://openalex.org/W3129648716","https://openalex.org/W4229706427","https://openalex.org/W4249736682","https://openalex.org/W4302564868","https://openalex.org/W6606801450","https://openalex.org/W6774409701","https://openalex.org/W6781614853"],"related_works":["https://openalex.org/W4383180381","https://openalex.org/W2023265106","https://openalex.org/W4285178526","https://openalex.org/W4401544244","https://openalex.org/W3215451557","https://openalex.org/W4387591136","https://openalex.org/W2794658657","https://openalex.org/W3128894332","https://openalex.org/W4229027300","https://openalex.org/W3083199101"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,104],"high-precision":[4],"single-camera":[5],"inertial":[6],"measurement":[7],"unit":[8],"(IMU)":[9],"extrinsic":[10,58,106],"calibration":[11,35,45,65,83,107,137,147],"method":[12,138],"by":[13],"tightly":[14],"fusing":[15],"the":[16,29,53,56,75,82,98,110,114,127,132,134,164],"visual":[17],"information":[18],"from":[19],"other":[20],"cameras.":[21],"Specifically,":[22],"multiple":[23],"additional":[24],"cameras":[25,42],"are":[26],"added":[27],"to":[28,48,108,141],"monocular":[30],"camera-IMU":[31,136],"system":[32],"for":[33,103,145],"assisting":[34],"as":[36],"we":[37,68,96],"theoretically":[38],"prove":[39],"that":[40],"more":[41],"used":[43],"in":[44,63,74,89,154,158,167],"can":[46],"lead":[47],"smaller":[49],"lower":[50,129],"bound":[51,130],"on":[52,117,131],"covariance":[54],"of":[55,100],"estimated":[57],"parameters,":[59],"which":[60,80,160],"then":[61],"results":[62],"better":[64],"accuracy.":[66],"Moreover,":[67],"provide":[69,109],"two":[70],"degenerative":[71],"motion":[72,102],"conditions":[73],"resulting":[76],"multicamera":[77],"visual-inertial":[78],"system,":[79],"impair":[81],"accuracy":[84],"and":[85,120,156],"should":[86],"be":[87,142],"avoided":[88],"real":[90],"application":[91],"whenever":[92],"possible.":[93],"More":[94],"importantly,":[95],"present":[97],"requirement":[99],"minimum":[101],"reliable":[105],"practical":[111],"guideline.":[112],"Finally,":[113],"full":[115],"validation":[116],"both":[118],"simulation":[119],"real-world":[121],"data":[122],"is":[123,139,161],"demonstrated.":[124],"By":[125],"evaluating":[126],"Cram\u00e9r-Rao":[128],"covariance,":[133],"proposed":[135],"shown":[140],"statistically":[143],"efficient":[144],"accurate":[146],"with":[148,163],"errors":[149],"less":[150],"than":[151],"0.01":[152],"m":[153],"translation":[155],"0.5\u00b0":[157],"rotation,":[159],"consistent":[162],"theoretical":[165],"analysis":[166],"this":[168],"article.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
