{"id":"https://openalex.org/W3216473456","doi":"https://doi.org/10.1109/tim.2021.3129882","title":"Keypoint-Based LiDAR-Camera Online Calibration With Robust Geometric Network","display_name":"Keypoint-Based LiDAR-Camera Online Calibration With Robust Geometric Network","publication_year":2021,"publication_date":"2021-11-22","ids":{"openalex":"https://openalex.org/W3216473456","doi":"https://doi.org/10.1109/tim.2021.3129882","mag":"3216473456"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3129882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3129882","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/A5100683272","display_name":"Chao Ye","orcid":"https://orcid.org/0000-0003-2263-8286"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Ye","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2263-8286","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053317950","display_name":"Huihui Pan","orcid":"https://orcid.org/0000-0002-8931-1774"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihui Pan","raw_affiliation_strings":["Ningbo Institute of Intelligent Equipment Technology Company Ltd., Ningbo, China","Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-8931-1774","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Intelligent Equipment Technology Company Ltd., Ningbo, China","institution_ids":[]},{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036684787","display_name":"Huijun Gao","orcid":"https://orcid.org/0000-0001-5554-5452"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Gao","raw_affiliation_strings":["Peng Cheng Laboratory, Shenzhen, China","Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5554-5452","affiliations":[{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":23.4872,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99055996,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9948999881744385,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9936000108718872,"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/robustness","display_name":"Robustness (evolution)","score":0.8122720718383789},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7287077903747559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.720343291759491},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6979467868804932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6791514754295349},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6657887697219849},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6461253762245178},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4565978944301605},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4132902920246124},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22931957244873047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1347668170928955}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8122720718383789},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7287077903747559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.720343291759491},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6979467868804932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6791514754295349},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6657887697219849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6461253762245178},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4565978944301605},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4132902920246124},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22931957244873047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1347668170928955},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3129882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3129882","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":0.5600000023841858,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G1571513899","display_name":null,"funder_award_id":"62173108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1801953439","display_name":null,"funder_award_id":"U1964201","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":61,"referenced_works":["https://openalex.org/W1990398405","https://openalex.org/W1991544872","https://openalex.org/W2089995260","https://openalex.org/W2094981849","https://openalex.org/W2115579991","https://openalex.org/W2133192850","https://openalex.org/W2133505209","https://openalex.org/W2150066425","https://openalex.org/W2157894832","https://openalex.org/W2217105717","https://openalex.org/W2246782745","https://openalex.org/W2295149141","https://openalex.org/W2600447016","https://openalex.org/W2615712430","https://openalex.org/W2766059032","https://openalex.org/W2768879211","https://openalex.org/W2803993251","https://openalex.org/W2819476901","https://openalex.org/W2888422218","https://openalex.org/W2905274083","https://openalex.org/W2908599206","https://openalex.org/W2909816247","https://openalex.org/W2922243907","https://openalex.org/W2939112079","https://openalex.org/W2944796900","https://openalex.org/W2962730651","https://openalex.org/W2963270286","https://openalex.org/W2963402313","https://openalex.org/W2963756608","https://openalex.org/W2963793227","https://openalex.org/W2964794620","https://openalex.org/W2966651153","https://openalex.org/W2969394682","https://openalex.org/W2972700194","https://openalex.org/W2988802433","https://openalex.org/W2989938886","https://openalex.org/W2991853568","https://openalex.org/W2995949129","https://openalex.org/W2999746269","https://openalex.org/W3001225245","https://openalex.org/W3014337206","https://openalex.org/W3021282624","https://openalex.org/W3032893832","https://openalex.org/W3047914067","https://openalex.org/W3048945070","https://openalex.org/W3088256830","https://openalex.org/W3091142689","https://openalex.org/W3091619233","https://openalex.org/W3101587859","https://openalex.org/W3104408604","https://openalex.org/W3119007448","https://openalex.org/W3129293064","https://openalex.org/W3175380624","https://openalex.org/W3183685035","https://openalex.org/W6631190155","https://openalex.org/W6691189842","https://openalex.org/W6739778489","https://openalex.org/W6747911595","https://openalex.org/W6766978945","https://openalex.org/W6781568228","https://openalex.org/W6884869577"],"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/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033","https://openalex.org/W4221065211"],"abstract_inverted_index":{"There":[0],"is":[1,10,100],"no":[2],"denying":[3],"the":[4,50,57,61,87,95,119,134,142,152,155,159,162,166,171],"fact":[5],"that":[6],"LiDAR-camera":[7,26],"online":[8,25],"calibration":[9,27,62,99],"an":[11,112],"extremely":[12],"complex":[13],"problem.":[14,48],"For":[15],"automatic":[16],"driving":[17],"technology":[18],"development,":[19],"a":[20,36,69,73,103,129],"stable,":[21],"accurate,":[22],"and":[23,89,140],"fast":[24],"system":[28],"becomes":[29],"quite":[30],"essential.":[31],"As":[32],"deep":[33],"learning":[34],"plays":[35],"vital":[37],"role":[38],"in":[39,60,91,118,146,174],"many":[40],"fields,":[41],"learning-based":[42],"methods":[43,52],"promise":[44],"to":[45,85,110,169],"solve":[46],"this":[47,65],"However,":[49],"existing":[51],"do":[53],"not":[54],"fully":[55],"consider":[56],"geometric":[58,116],"constraints":[59,117],"process.":[63],"In":[64],"study,":[66],"we":[67],"propose":[68],"new":[70],"network:":[71],"RGKCNet,":[72],"2-D–3-D":[74,125],"pose":[75,147],"estimation":[76],"network":[77,121,135],"based":[78,114],"on":[79,115,165],"keypoints,":[80],"which":[81,107,149],"can":[82,136],"be":[83],"applied":[84],"calibrate":[86],"camera":[88],"LiDAR":[90],"real":[92],"time.":[93],"Using":[94],"declarative":[96],"layer,":[97,133],"extrinsic":[98],"regarded":[101],"as":[102],"bilevel":[104],"optimization":[105],"problem,":[106],"allows":[108],"us":[109],"embed":[111],"optimizer":[113],"end-to-end":[120],"and,":[122],"thus,":[123],"realize":[124],"data":[126],"association.":[127],"With":[128],"trainable":[130],"point":[131],"weighting":[132],"extract":[137],"sparse":[138],"keypoints":[139],"give":[141],"corresponding":[143],"weights":[144],"used":[145],"estimation,":[148],"further":[150],"improves":[151],"robustness":[153],"of":[154,161],"network.":[156],"We":[157],"verify":[158],"performance":[160],"proposed":[163],"method":[164],"KITTI":[167],"dataset":[168],"demonstrate":[170],"significant":[172],"effect":[173],"practical":[175],"applications.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}