{"id":"https://openalex.org/W4397000123","doi":"https://doi.org/10.1109/tim.2024.3400331","title":"Targetless Extrinsic Calibration of Camera and LiDAR via Identifying True 2-D\u20133-D Line Matching Among Unknown Line Correspondences of Structured Environments","display_name":"Targetless Extrinsic Calibration of Camera and LiDAR via Identifying True 2-D\u20133-D Line Matching Among Unknown Line Correspondences of Structured Environments","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4397000123","doi":"https://doi.org/10.1109/tim.2024.3400331"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3400331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3400331","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/A5075998258","display_name":"Le Zhou","orcid":"https://orcid.org/0009-0005-7718-2791"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Zhou","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0005-7718-2791","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China","College Of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-0610-3732","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"College Of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009524384","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0003-1101-3221"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-1101-3221","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005979742","display_name":"Jinpeng Zhang","orcid":"https://orcid.org/0000-0001-7282-7275"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinpeng Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China","College Of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-7282-7275","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"College Of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":1.4826,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79255141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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":0.9986000061035156,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7364352345466614},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7337060570716858},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.6866828203201294},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6336121559143066},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6327680349349976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5728331208229065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5279982089996338},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.48068293929100037},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19996491074562073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17822951078414917},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1446332037448883},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08265337347984314}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7364352345466614},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7337060570716858},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.6866828203201294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6336121559143066},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6327680349349976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5728331208229065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5279982089996338},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.48068293929100037},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19996491074562073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17822951078414917},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1446332037448883},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08265337347984314},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3400331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3400331","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":[],"awards":[{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","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":37,"referenced_works":["https://openalex.org/W1975461372","https://openalex.org/W1999343901","https://openalex.org/W2063061122","https://openalex.org/W2085261163","https://openalex.org/W2101147228","https://openalex.org/W2111365302","https://openalex.org/W2160072137","https://openalex.org/W2295149141","https://openalex.org/W2412547954","https://openalex.org/W2473967151","https://openalex.org/W2560311404","https://openalex.org/W2613449306","https://openalex.org/W2740578684","https://openalex.org/W2769811299","https://openalex.org/W2896099866","https://openalex.org/W2909816247","https://openalex.org/W2967926749","https://openalex.org/W2970152490","https://openalex.org/W2990016688","https://openalex.org/W3000964723","https://openalex.org/W3032893832","https://openalex.org/W3047579219","https://openalex.org/W3084473397","https://openalex.org/W3096945103","https://openalex.org/W3133648073","https://openalex.org/W3143504974","https://openalex.org/W3179604080","https://openalex.org/W3183685035","https://openalex.org/W3205078851","https://openalex.org/W3207593173","https://openalex.org/W3207901367","https://openalex.org/W3212741915","https://openalex.org/W4206626572","https://openalex.org/W4285150423","https://openalex.org/W4319303219","https://openalex.org/W4383097439","https://openalex.org/W4389104912"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2106088778","https://openalex.org/W2542123669"],"abstract_inverted_index":{"For":[0],"those":[1],"systems":[2],"consisted":[3],"of":[4,27,53,97,133],"camera":[5],"and":[6,21,41,72,92,156,173],"LiDAR,":[7],"extrinsic":[8,25,67],"calibration":[9,54,164],"is":[10,39,135],"unavoidable.":[11],"Traditional":[12],"methods":[13],"usually":[14],"start":[15],"from":[16,171],"a":[17,35,61,153,158],"known":[18],"initial":[19,37,79],"pose":[20],"alternately":[22],"optimize":[23],"the":[24,51,66,70,73,78,83,88,98,107,130,138,163,177],"parameters":[26,68,165],"these":[28],"sensors.":[29],"Their":[30],"main":[31],"limitations":[32],"are":[33,44,166],"that":[34,188],"good":[36],"guess":[38],"required":[40],"matching":[42,121,128],"features":[43],"inevitably":[45],"corrupted":[46],"by":[47,81,147,168,176],"outliers,":[48,114],"which":[49,134],"affect":[50],"accuracy":[52],"significantly.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59,115],"present":[60],"novel":[62],"approach":[63],"to":[64,112,136],"estimate":[65],"between":[69],"LiDAR":[71],"camera.":[74],"We":[75,149],"first":[76],"obtain":[77],"transformations":[80],"leveraging":[82],"structural":[84],"regularity":[85],"such":[86],"as":[87,124],"2D-3D":[89,93,103],"dominant":[90],"directions":[91],"parallel":[94],"line":[95,104,119],"pairs":[96],"structured":[99],"scenes,":[100],"then":[101],"achieve":[102,192],"registration":[105],"using":[106,169],"nearest":[108],"neighbor":[109],"approach.":[110],"Furthermore,":[111],"handle":[113],"propose":[116],"an":[117],"effective":[118],"feature":[120],"approach,":[122],"termed":[123],"local":[125],"triangular":[126,139],"preserving":[127],"(LTP),":[129],"major":[131],"objective":[132],"maintain":[137],"topological":[140],"consistency":[141],"among":[142],"neighboring":[143],"vector":[144],"arcs":[145],"generated":[146],"inliers.":[148],"formulate":[150],"it":[151],"into":[152],"mathematical":[154],"model,":[155],"derive":[157],"simple":[159],"closed-form":[160],"solution.":[161],"Then,":[162],"estimated":[167],"correspondences":[170],"LTP":[172],"further":[174],"refined":[175],"Levenberg-Marquardt":[178],"algorithm":[179],"(LM)":[180],"with":[181],"outlier":[182],"removal":[183],"strategy.":[184],"Experimental":[185],"results":[186],"show":[187],"our":[189],"method":[190],"can":[191],"better":[193],"performance":[194],"over":[195],"state-of-the-art":[196],"methods.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}