{"id":"https://openalex.org/W3047914067","doi":"https://doi.org/10.1109/tits.2020.3009674","title":"Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method","display_name":"Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method","publication_year":2020,"publication_date":"2020-08-06","ids":{"openalex":"https://openalex.org/W3047914067","doi":"https://doi.org/10.1109/tits.2020.3009674","mag":"3047914067"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3009674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3009674","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5053783612","display_name":"Xuan Yuwen","orcid":"https://orcid.org/0000-0003-1851-6593"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuan Yuwen","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336450","display_name":"Long Chen","orcid":"https://orcid.org/0000-0003-4925-0572"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Chen","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043643456","display_name":"Fengjun Yan","orcid":"https://orcid.org/0000-0002-5761-9600"},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Fengjun Yan","raw_affiliation_strings":["Department of Mechanical Engineering, McMaster University, Hamilton, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McMaster University, Hamilton, Canada","institution_ids":["https://openalex.org/I98251732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637526","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-2501-712X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101203868","display_name":"Jianlin Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianlin Tang","raw_affiliation_strings":["Institute of Intelligent Control Technology, Jiangsu Xcmg Construction Machinery Research Institute Ltd., Xuzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Control Technology, Jiangsu Xcmg Construction Machinery Research Institute Ltd., Xuzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112113074","display_name":"Bin Tian","orcid":"https://orcid.org/0000-0003-1050-1282"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Tian","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022489675","display_name":"Yunfeng Ai","orcid":"https://orcid.org/0000-0002-2673-1368"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfeng Ai","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5053783612"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.3212,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.80579403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"215","last_page":"224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.7208795547485352},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4871487319469452},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.420382559299469},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3480967581272125},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.12436133623123169}],"concepts":[{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.7208795547485352},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4871487319469452},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.420382559299469},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3480967581272125},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.12436133623123169}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2020.3009674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3009674","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6106187397","display_name":null,"funder_award_id":"61773414","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":23,"referenced_works":["https://openalex.org/W1573751879","https://openalex.org/W1896525902","https://openalex.org/W1989173793","https://openalex.org/W1989760884","https://openalex.org/W2046357695","https://openalex.org/W2091505087","https://openalex.org/W2108196201","https://openalex.org/W2115579991","https://openalex.org/W2119227765","https://openalex.org/W2121349631","https://openalex.org/W2150066425","https://openalex.org/W2150190641","https://openalex.org/W2150382645","https://openalex.org/W2277848489","https://openalex.org/W2460157116","https://openalex.org/W2475183197","https://openalex.org/W2544723405","https://openalex.org/W2886968365","https://openalex.org/W2891575793","https://openalex.org/W2897323976","https://openalex.org/W2909908358","https://openalex.org/W2949708697","https://openalex.org/W6754883540"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2051487156","https://openalex.org/W2504004674","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819"],"abstract_inverted_index":{"In":[0],"unmanned":[1,174,208],"vehicles,":[2],"LiDARs":[3],"and":[4,14,25,43,180,189,221,224,236],"GPS/INSs":[5],"are":[6,183,242],"the":[7,19,23,26,41,91,126,131,146,170,187,196,203,207,227,234,239,245,248],"most":[8],"popular":[9],"sensors":[10],"to":[11,124,140,185,244],"achieve":[12],"perception":[13],"positioning.":[15],"Precise":[16],"calibration":[17,163],"of":[18,34,93,133,169,173,206,238,247],"extrinsic":[20,38,128,197],"parameters":[21,129,198],"between":[22,40],"LiDAR":[24,42],"GPS/INS":[27,44],"is":[28,45,96,123,193,210,216],"necessary":[29],"for":[30],"a":[31,94,157,160],"successful":[32],"implementation":[33],"sensor":[35],"fusion.":[36],"The":[37,121,138,176,213,230],"transformation":[39],"6D":[46,127],"(":[47,99],"<inline-formula":[48,55,62,69,76,83,100,107,114],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[49,56,63,70,77,84,101,108,115],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[50,57,64,71,78,85,102,109,116],"<tex-math":[51,58,65,72,79,86,103,110,117],"notation=\"LaTeX\">$x$":[52,104],"</tex-math></inline-formula>":[53,60,67,74,81,88,105,112,119],",":[54,61,68,75,82,106,113],"notation=\"LaTeX\">$y$":[59,111],"notation=\"LaTeX\">$z$":[66],"notation=\"LaTeX\">$yaw$":[73,118],"notation=\"LaTeX\">$pitch$":[80],"notation=\"LaTeX\">$roll$":[87],"),":[89],"but":[90],"motion":[92,135],"vehicle":[95,152,209],"mainly":[97],"3D":[98,134],").":[120],"problem":[122,142],"calculate":[125],"with":[130,178,218,226],"limitation":[132],"(plane":[136],"constraint).":[137],"solution":[139],"this":[141],"has":[143],"been":[144],"breaking":[145],"plane":[147],"constraint":[148],"by":[149],"designing":[150],"specific":[151],"motions.":[153],"This":[154],"paper":[155],"proposes":[156],"new":[158],"method,":[159,164],"trajectory-based":[161],"hand-eye":[162],"which":[165],"makes":[166],"full":[167],"use":[168],"large":[171,179],"range":[172,205],"vehicles.":[175],"trajectories":[177],"small":[181],"ranges":[182],"used":[184],"solve":[186],"rotation":[188],"translation,":[190],"respectively.":[191],"It":[192],"proved":[194],"that":[195,233],"can":[199],"be":[200],"solved":[201],"when":[202],"trajectory":[204],"sufficiently":[211],"large.":[212],"method":[214,240],"proposed":[215,241],"tested":[217],"simulation,":[219],"custom":[220],"KITTI":[222],"datasets,":[223],"compared":[225],"state-of-the-art":[228],"methods.":[229,250],"results":[231],"demonstrate":[232],"accuracy":[235],"efficiency":[237],"comparable":[243],"state":[246],"art":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}