{"id":"https://openalex.org/W3120910864","doi":"https://doi.org/10.1109/tits.2022.3155228","title":"Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups","display_name":"Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups","publication_year":2022,"publication_date":"2022-03-11","ids":{"openalex":"https://openalex.org/W3120910864","doi":"https://doi.org/10.1109/tits.2022.3155228","mag":"3120910864"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3155228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3155228","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.04431","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003277964","display_name":"Jorge Beltr\u00e1n","orcid":"https://orcid.org/0000-0001-5966-7641"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jorge Beltran","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019677572","display_name":"Carlos Guindel","orcid":"https://orcid.org/0000-0003-1300-3879"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Guindel","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042213241","display_name":"Arturo de la Escalera","orcid":"https://orcid.org/0000-0002-2618-857X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Arturo de la Escalera","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081249956","display_name":"Fernando Garc\u00eda","orcid":"https://orcid.org/0000-0002-6291-5009"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Garcia","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003277964"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":18.273,"has_fulltext":false,"cited_by_count":195,"citation_normalized_percentile":{"value":0.99640091,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"23","issue":"10","first_page":"17677","last_page":"17689"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9990000128746033,"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/lidar","display_name":"Lidar","score":0.7778955698013306},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7275385856628418},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5843951106071472},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5408935546875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5092507600784302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4968414604663849},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.32952892780303955},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18926575779914856},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14439764618873596},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0724305510520935}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7778955698013306},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7275385856628418},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5843951106071472},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5408935546875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092507600784302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4968414604663849},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.32952892780303955},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18926575779914856},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14439764618873596},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0724305510520935}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2022.3155228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3155228","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"},{"id":"pmh:oai:arXiv.org:2101.04431","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.04431","pdf_url":"https://arxiv.org/pdf/2101.04431","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.04431","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.04431","pdf_url":"https://arxiv.org/pdf/2101.04431","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2083713391","display_name":null,"funder_award_id":"SEGVAUTO-4.0-CM P2018/EMT-4362","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G3394160207","display_name":null,"funder_award_id":"PEAVAUTO-CM-UC3M","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G6297627859","display_name":null,"funder_award_id":"RTI2018-096036-B-C21","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W221133259","https://openalex.org/W1990398405","https://openalex.org/W1994349244","https://openalex.org/W1999343901","https://openalex.org/W2000788931","https://openalex.org/W2017088761","https://openalex.org/W2066315600","https://openalex.org/W2071763687","https://openalex.org/W2101938307","https://openalex.org/W2111365302","https://openalex.org/W2116672260","https://openalex.org/W2117248802","https://openalex.org/W2125186487","https://openalex.org/W2128019145","https://openalex.org/W2167340365","https://openalex.org/W2261350786","https://openalex.org/W2295149141","https://openalex.org/W2412716960","https://openalex.org/W2620406343","https://openalex.org/W2770841999","https://openalex.org/W2789777740","https://openalex.org/W2808367323","https://openalex.org/W2908599206","https://openalex.org/W2909816247","https://openalex.org/W2963270286","https://openalex.org/W2963400571","https://openalex.org/W2964062501","https://openalex.org/W2964186846","https://openalex.org/W2971159190","https://openalex.org/W2990464486","https://openalex.org/W3001225245","https://openalex.org/W3008115128","https://openalex.org/W3035574168","https://openalex.org/W3101587859","https://openalex.org/W3115999419","https://openalex.org/W3143504974","https://openalex.org/W6738649838","https://openalex.org/W6752151526"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367"],"abstract_inverted_index":{"Most":[0],"sensor":[1],"setups":[2],"for":[3],"onboard":[4],"autonomous":[5],"perception":[6],"are":[7,101],"composed":[8,88],"of":[9,23,38,68,71,79,89,124,152,163],"LiDARs":[10],"and":[11,56,113,138],"vision":[12],"systems,":[13],"as":[14,140],"they":[15],"provide":[16],"complementary":[17],"information":[18,39],"that":[19,176],"improves":[20],"the":[21,24,35,48,65,80,104,108,115,122,150,153,172,189,193],"reliability":[22],"different":[25,41,83,136],"algorithms":[26],"necessary":[27],"to":[28,63,96,110,148],"obtain":[29],"a":[30,54,61,97,156,164],"robust":[31],"scene":[32],"understanding.":[33],"However,":[34],"effective":[36],"use":[37],"from":[40,103],"sources":[42],"requires":[43],"an":[44],"accurate":[45],"calibration":[46,99,178],"between":[47],"sensors":[49,72,109],"involved,":[50],"which":[51],"usually":[52,141],"implies":[53],"tedious":[55],"burdensome":[57],"process.":[58],"We":[59],"present":[60],"method":[62],"calibrate":[64],"extrinsic":[66],"parameters":[67],"any":[69],"pair":[70],"involving":[73],"LiDARs,":[74],"monocular":[75],"or":[76,82],"stereo":[77],"cameras,":[78],"same":[81],"modalities.":[84],"The":[85,128],"procedure":[86],"is":[87,119,168,198],"two":[90],"stages:":[91],"first,":[92],"reference":[93],"points":[94],"belonging":[95],"custom":[98],"target":[100],"extracted":[102],"data":[105,186],"provided":[106],"by":[107],"be":[111],"calibrated,":[112],"second,":[114],"optimal":[116],"rigid":[117],"transformation":[118],"found":[120,142],"through":[121],"registration":[123],"both":[125],"point":[126],"sets.":[127],"proposed":[129,154],"approach":[130],"can":[131],"handle":[132],"devices":[133],"with":[134],"very":[135],"resolutions":[137],"poses,":[139],"in":[143,192],"vehicle":[144],"setups.":[145],"In":[146],"order":[147],"assess":[149],"performance":[151],"method,":[155],"novel":[157],"evaluation":[158,194],"suite":[159],"built":[160],"on":[161,171],"top":[162],"popular":[165],"simulation":[166],"framework":[167],"introduced.":[169],"Experiments":[170],"synthetic":[173],"environment":[174],"show":[175],"our":[177],"algorithm":[179],"significantly":[180],"outperforms":[181],"existing":[182],"methods,":[183],"whereas":[184],"real":[185],"tests":[187],"corroborate":[188],"results":[190],"obtained":[191],"suite.":[195],"Open-source":[196],"code":[197],"available":[199],"at":[200],"<uri":[201],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[202],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/beltransen/velo2cam_calibration</uri>":[203],".":[204]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":63},{"year":2024,"cited_by_count":58},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":8}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
