{"id":"https://openalex.org/W4399601286","doi":"https://doi.org/10.1109/tip.2024.3410673","title":"E-Calib: A Fast, Robust, and Accurate Calibration Toolbox for Event Cameras","display_name":"E-Calib: A Fast, Robust, and Accurate Calibration Toolbox for Event Cameras","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399601286","doi":"https://doi.org/10.1109/tip.2024.3410673","pmid":"https://pubmed.ncbi.nlm.nih.gov/38869999"},"language":"en","primary_location":{"id":"doi:10.1109/tip.2024.3410673","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tip.2024.3410673","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Image Processing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tip.2024.3410673","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018399483","display_name":"Mohammed Salah","orcid":"https://orcid.org/0000-0003-1646-7919"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Mohammed Salah","raw_affiliation_strings":["ARIC, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0003-1646-7919","affiliations":[{"raw_affiliation_string":"ARIC, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090610976","display_name":"Abdulla Ayyad","orcid":"https://orcid.org/0000-0002-3006-2320"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Abdulla Ayyad","raw_affiliation_strings":["ARIC, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-3006-2320","affiliations":[{"raw_affiliation_string":"ARIC, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073328562","display_name":"Muhammad Ahmed Humais","orcid":"https://orcid.org/0000-0001-6237-6394"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Muhammad Humais","raw_affiliation_strings":["KUCARS, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0001-6237-6394","affiliations":[{"raw_affiliation_string":"KUCARS, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090085034","display_name":"Daniel Gehrig","orcid":"https://orcid.org/0000-0001-9952-3335"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Daniel Gehrig","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-9952-3335","affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Z&#x00FC;rich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041153876","display_name":"Abdelqader Abusafieh","orcid":"https://orcid.org/0000-0002-8689-2534"},"institutions":[{"id":"https://openalex.org/I215109790","display_name":"Stratasys (Israel)","ror":"https://ror.org/042hp4645","country_code":"IL","type":"company","lineage":["https://openalex.org/I215109790","https://openalex.org/I4210163352"]},{"id":"https://openalex.org/I4210136542","display_name":"Mubadala (United Arab Emirates)","ror":"https://ror.org/03t89te61","country_code":"AE","type":"company","lineage":["https://openalex.org/I4210136542"]}],"countries":["AE","IL"],"is_corresponding":false,"raw_author_name":"Abdelqader Abusafieh","raw_affiliation_strings":["Research and Development, Strata Manufacturing PJSC (a Mubadala company), Al Ain, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development, Strata Manufacturing PJSC (a Mubadala company), Al Ain, United Arab Emirates","institution_ids":["https://openalex.org/I215109790","https://openalex.org/I4210136542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Lakmal Seneviratne","raw_affiliation_strings":["KUCARS, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0001-6405-8402","affiliations":[{"raw_affiliation_string":"KUCARS, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3831-6778","affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Z&#x00FC;rich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057275866","display_name":"Yahya Zweiri","orcid":"https://orcid.org/0000-0003-4331-7254"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Yahya Zweiri","raw_affiliation_strings":["ARIC, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0003-4331-7254","affiliations":[{"raw_affiliation_string":"ARIC, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.543,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98025181,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"33","issue":null,"first_page":"3977","last_page":"3990"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11993","display_name":"Atomic and Subatomic Physics Research","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T11993","display_name":"Atomic and Subatomic Physics Research","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T11216","display_name":"Radiation Detection and Scintillator Technologies","score":0.9545000195503235,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"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/T13553","display_name":"Age of Information Optimization","score":0.9114999771118164,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.6714783310890198},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.6441774368286133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5989178419113159},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5942422151565552},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5796599984169006},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5033313632011414},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.49803996086120605},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34438878297805786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24114978313446045},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11997395753860474}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6714783310890198},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.6441774368286133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5989178419113159},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5942422151565552},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5796599984169006},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5033313632011414},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.49803996086120605},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34438878297805786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24114978313446045},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11997395753860474},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":2,"locations":[{"id":"doi:10.1109/tip.2024.3410673","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tip.2024.3410673","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Image Processing","raw_type":"journal-article"},{"id":"pmid:38869999","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38869999","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on image processing : a publication of the IEEE Signal Processing Society","raw_type":null}],"best_oa_location":{"id":"doi:10.1109/tip.2024.3410673","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tip.2024.3410673","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Image Processing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W1503004767","https://openalex.org/W1971022913","https://openalex.org/W1998579400","https://openalex.org/W2016574277","https://openalex.org/W2046434485","https://openalex.org/W2125188427","https://openalex.org/W2131158476","https://openalex.org/W2134475857","https://openalex.org/W2167667767","https://openalex.org/W2256578114","https://openalex.org/W2538143741","https://openalex.org/W2620993408","https://openalex.org/W2891445114","https://openalex.org/W2903718010","https://openalex.org/W2964132169","https://openalex.org/W2998281665","https://openalex.org/W3010556452","https://openalex.org/W3011524659","https://openalex.org/W3022569182","https://openalex.org/W3040838455","https://openalex.org/W3113613660","https://openalex.org/W3120099762","https://openalex.org/W3120682017","https://openalex.org/W3124624766","https://openalex.org/W3127940238","https://openalex.org/W3128894332","https://openalex.org/W3140728551","https://openalex.org/W3157685993","https://openalex.org/W3189852228","https://openalex.org/W4205709322","https://openalex.org/W4225688144","https://openalex.org/W4248770165","https://openalex.org/W4285124932","https://openalex.org/W4286374852","https://openalex.org/W4295909205","https://openalex.org/W4296775912","https://openalex.org/W4312279626","https://openalex.org/W4313482706","https://openalex.org/W4386075690","https://openalex.org/W4386076324","https://openalex.org/W4392170068","https://openalex.org/W6634414642","https://openalex.org/W6637131181","https://openalex.org/W6677980251"],"related_works":["https://openalex.org/W4205140848","https://openalex.org/W2068663075","https://openalex.org/W2978678743","https://openalex.org/W2797837731","https://openalex.org/W4393677513","https://openalex.org/W4390832911","https://openalex.org/W829257147","https://openalex.org/W4385302116","https://openalex.org/W3081389670","https://openalex.org/W2150344375"],"abstract_inverted_index":{"Event":[0],"cameras":[1,25,63,111],"triggered":[2],"a":[3,101,149,172],"paradigm":[4],"shift":[5],"in":[6,80,171,209],"the":[7,32,50,55,91,113,136,158,163,207],"computer":[8],"vision":[9],"community":[10],"delineated":[11],"by":[12,86],"their":[13],"asynchronous":[14],"nature,":[15],"low":[16],"latency,":[17],"and":[18,36,83,88,105,143,193,195,215],"high":[19],"dynamic":[20],"range.":[21],"Calibration":[22],"of":[23,54,135,174],"event":[24,62,110,179],"is":[26,154,169],"always":[27],"essential":[28],"to":[29,49,78,120,145,156],"account":[30],"for":[31,37,60,109,117,132,177],"sensor":[33],"intrinsic":[34],"parameters":[35],"3D":[38],"perception.":[39],"However,":[40],"conventional":[41],"image-based":[42],"calibration":[43,92,107,137,159,191],"techniques":[44],"are":[45,76,84],"not":[46],"applicable":[47],"due":[48],"asynchronous,":[51],"binary":[52],"output":[53],"sensor.":[56],"The":[57,166,200],"current":[58],"standard":[59],"calibrating":[61],"relies":[64],"on":[65,182,189],"either":[66],"blinking":[67],"patterns":[68],"or":[69],"event-based":[70],"image":[71],"reconstruction":[72],"algorithms.":[73],"These":[74],"approaches":[75],"difficult":[77],"deploy":[79],"factory":[81],"settings":[82],"affected":[85],"noise":[87],"artifacts":[89],"degrading":[90],"performance.":[93],"To":[94],"bridge":[95],"these":[96],"limitations,":[97],"we":[98],"present":[99],"E-Calib,":[100],"novel,":[102],"fast,":[103],"robust,":[104],"accurate":[106],"toolbox":[108],"utilizing":[112],"asymmetric":[114],"circle":[115,183],"grid,":[116],"its":[118],"robustness":[119,144],"out-of-focus":[121],"scenes.":[122],"E-Calib":[123],"introduces":[124],"an":[125],"efficient":[126],"reweighted":[127],"least":[128],"squares":[129],"(eRWLS)":[130],"method":[131,168],"feature":[133],"extraction":[134],"pattern":[138],"circles":[139],"with":[140,185],"sub-pixel":[141],"accuracy":[142],"noise.":[146],"In":[147],"addition,":[148],"modified":[150],"hierarchical":[151],"clustering":[152],"algorithm":[153],"devised":[155],"detect":[157],"grid":[160],"apart":[161],"from":[162],"background":[164],"clutter.":[165],"proposed":[167],"tested":[170],"variety":[173],"rigorous":[175],"experiments":[176],"different":[178,186],"camera":[180],"models,":[181],"grids":[184],"geometric":[187],"properties,":[188],"varying":[190],"trajectories":[192],"speeds,":[194],"under":[196],"challenging":[197],"illumination":[198],"conditions.":[199],"results":[201],"show":[202],"that":[203],"our":[204],"approach":[205],"outperforms":[206],"state-of-the-art":[208],"detection":[210],"success":[211],"rate,":[212],"reprojection":[213],"error,":[214],"pose":[216],"estimation":[217],"accuracy.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
