{"id":"https://openalex.org/W4400447541","doi":"https://doi.org/10.1109/tits.2024.3419758","title":"Survey of Extrinsic Calibration on LiDAR-Camera System for Intelligent Vehicle: Challenges, Approaches, and Trends","display_name":"Survey of Extrinsic Calibration on LiDAR-Camera System for Intelligent Vehicle: Challenges, Approaches, and Trends","publication_year":2024,"publication_date":"2024-07-09","ids":{"openalex":"https://openalex.org/W4400447541","doi":"https://doi.org/10.1109/tits.2024.3419758"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3419758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3419758","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/A5004476352","display_name":"Pei An","orcid":"https://orcid.org/0000-0002-3645-8465"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pei An","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056091813","display_name":"Junfeng Ding","orcid":"https://orcid.org/0000-0001-7328-9923"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Ding","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084787849","display_name":"Siwen Quan","orcid":"https://orcid.org/0000-0001-7579-937X"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siwen Quan","raw_affiliation_strings":["School of Electronics and Control Engineering, Chang’an University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Control Engineering, Chang’an University, Xi’an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619615","display_name":"Jiaqi Yang","orcid":"https://orcid.org/0000-0002-2071-2457"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Yang","raw_affiliation_strings":["National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology, School of Computer Science, Northwestern Polytechnical University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology, School of Computer Science, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100658700","display_name":"You Yang","orcid":"https://orcid.org/0000-0002-5695-1046"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"You Yang","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336301","display_name":"Qiong Liu","orcid":"https://orcid.org/0000-0002-2407-806X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiong Liu","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101807673","display_name":"Jie Ma","orcid":"https://orcid.org/0000-0003-1996-5163"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ma","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5004476352"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":6.6354,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96907216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"25","issue":"11","first_page":"15342","last_page":"15366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.984499990940094,"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":0.9761000275611877,"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":0.8166155815124512},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6377702951431274},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5261040329933167},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.49421194195747375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48044225573539734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35879001021385193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33990830183029175},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2938125729560852},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.27020180225372314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26392537355422974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08121022582054138}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8166155815124512},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6377702951431274},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5261040329933167},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.49421194195747375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48044225573539734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35879001021385193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33990830183029175},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2938125729560852},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.27020180225372314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26392537355422974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08121022582054138},{"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/tits.2024.3419758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3419758","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":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2613911948","display_name":null,"funder_award_id":"U1913602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5536481466","display_name":null,"funder_award_id":"61971203","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":157,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1988874269","https://openalex.org/W1990398405","https://openalex.org/W1991544872","https://openalex.org/W1994349244","https://openalex.org/W2017088761","https://openalex.org/W2021278996","https://openalex.org/W2054969198","https://openalex.org/W2058560716","https://openalex.org/W2067448964","https://openalex.org/W2082511574","https://openalex.org/W2089995260","https://openalex.org/W2093220968","https://openalex.org/W2119851068","https://openalex.org/W2124313187","https://openalex.org/W2125188427","https://openalex.org/W2150066425","https://openalex.org/W2167667767","https://openalex.org/W2217105717","https://openalex.org/W2222512263","https://openalex.org/W2277848489","https://openalex.org/W2295149141","https://openalex.org/W2312355711","https://openalex.org/W2460206650","https://openalex.org/W2460955018","https://openalex.org/W2471962767","https://openalex.org/W2518401284","https://openalex.org/W2519911873","https://openalex.org/W2535547924","https://openalex.org/W2556806731","https://openalex.org/W2563819450","https://openalex.org/W2583607943","https://openalex.org/W2739110650","https://openalex.org/W2746193234","https://openalex.org/W2770841999","https://openalex.org/W2772370425","https://openalex.org/W2772641132","https://openalex.org/W2810750599","https://openalex.org/W2890347775","https://openalex.org/W2894875292","https://openalex.org/W2896911799","https://openalex.org/W2905947022","https://openalex.org/W2908175687","https://openalex.org/W2908599206","https://openalex.org/W2922483979","https://openalex.org/W2933190127","https://openalex.org/W2962771259","https://openalex.org/W2963270286","https://openalex.org/W2963416674","https://openalex.org/W2963782415","https://openalex.org/W2963793227","https://openalex.org/W2964186846","https://openalex.org/W2966651153","https://openalex.org/W2967040347","https://openalex.org/W2967926749","https://openalex.org/W2970475117","https://openalex.org/W2972700194","https://openalex.org/W2989819309","https://openalex.org/W2990016688","https://openalex.org/W2991853568","https://openalex.org/W2994922082","https://openalex.org/W2996759437","https://openalex.org/W2999050151","https://openalex.org/W3000598585","https://openalex.org/W3000792239","https://openalex.org/W3001225245","https://openalex.org/W3008117857","https://openalex.org/W3011224904","https://openalex.org/W3014957855","https://openalex.org/W3015248322","https://openalex.org/W3030785644","https://openalex.org/W3034275286","https://openalex.org/W3034355852","https://openalex.org/W3034716600","https://openalex.org/W3035574168","https://openalex.org/W3047914067","https://openalex.org/W3047974871","https://openalex.org/W3088256830","https://openalex.org/W3089503906","https://openalex.org/W3089954597","https://openalex.org/W3090232188","https://openalex.org/W3090824333","https://openalex.org/W3091142689","https://openalex.org/W3091309294","https://openalex.org/W3091523271","https://openalex.org/W3092013772","https://openalex.org/W3101092662","https://openalex.org/W3101587859","https://openalex.org/W3102327032","https://openalex.org/W3104502516","https://openalex.org/W3106634005","https://openalex.org/W3109585842","https://openalex.org/W3120910864","https://openalex.org/W3127649885","https://openalex.org/W3129293064","https://openalex.org/W3131188630","https://openalex.org/W3133123082","https://openalex.org/W3135749219","https://openalex.org/W3136025880","https://openalex.org/W3143504974","https://openalex.org/W3170994844","https://openalex.org/W3171246200","https://openalex.org/W3171843835","https://openalex.org/W3174527233","https://openalex.org/W3175380624","https://openalex.org/W3183685035","https://openalex.org/W3183784042","https://openalex.org/W3207950313","https://openalex.org/W3211414644","https://openalex.org/W3216473456","https://openalex.org/W4200134404","https://openalex.org/W4224231951","https://openalex.org/W4225754812","https://openalex.org/W4242237682","https://openalex.org/W4243280346","https://openalex.org/W4281489542","https://openalex.org/W4285049144","https://openalex.org/W4285121103","https://openalex.org/W4285142571","https://openalex.org/W4285150423","https://openalex.org/W4285169956","https://openalex.org/W4285505742","https://openalex.org/W4290715566","https://openalex.org/W4296872882","https://openalex.org/W4296913583","https://openalex.org/W4308080218","https://openalex.org/W4312264517","https://openalex.org/W4312500479","https://openalex.org/W4312612710","https://openalex.org/W4312939270","https://openalex.org/W4312979124","https://openalex.org/W4312993467","https://openalex.org/W4313063527","https://openalex.org/W4317739059","https://openalex.org/W4320004351","https://openalex.org/W4362562908","https://openalex.org/W4365421147","https://openalex.org/W4366351566","https://openalex.org/W4366667773","https://openalex.org/W4367663114","https://openalex.org/W4377971350","https://openalex.org/W4379233557","https://openalex.org/W4383097439","https://openalex.org/W4383109190","https://openalex.org/W4383109450","https://openalex.org/W4385518131","https://openalex.org/W4385627031","https://openalex.org/W4385731905","https://openalex.org/W4388100248","https://openalex.org/W4388936659","https://openalex.org/W4389266945","https://openalex.org/W4389692311","https://openalex.org/W4391019999","https://openalex.org/W4392567260","https://openalex.org/W6677548441","https://openalex.org/W6745935785","https://openalex.org/W6852768366"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"A":[0],"system":[1],"with":[2],"light":[3],"detection":[4],"and":[5,8,27,40,54,131,148,160,170],"ranging":[6],"(LiDAR)":[7],"camera":[9],"(named":[10],"as":[11],"LiDAR-camera":[12],"system)":[13],"plays":[14],"the":[15,58,62,76,80,88,99,119,135,143,158,163,167,172,178,184,197],"essential":[16],"role":[17],"in":[18,57,98,187],"intelligent":[19],"vehicle":[20],"(IV),":[21],"for":[22,31,48],"it":[23,49],"provides":[24],"3D":[25,32,55],"spatial":[26],"2D":[28,52],"texture":[29],"features":[30],"scene":[33],"understanding.":[34],"To":[35],"leverage":[36],"LiDAR":[37,128],"point":[38,56,129],"cloud":[39,130],"image,":[41],"extrinsic":[42,116],"calibration":[43,67,89,122,181],"is":[44,69,123],"a":[45,113],"crucial":[46],"technique,":[47],"can":[50],"align":[51],"pixel":[53],"pixel-level":[59],"accuracy.":[60],"With":[61],"rapid":[63],"development":[64],"of":[65,93,115,121,137,162,180,199],"IV,":[66],"demand":[68],"shifted":[70],"from":[71,75,127],"offline":[72],"to":[73,79,87,124,141,196],"online,":[74],"specific":[77],"scenes":[78],"open":[81],"scenes.":[82],"It":[83],"brings":[84],"new":[85],"challenge":[86],"task.":[90],"Although":[91],"numbers":[92],"approaches":[94,145],"have":[95],"been":[96],"proposed":[97],"last":[100],"decade,":[101],"there":[102],"lacks":[103],"an":[104],"in-depth":[105],"summary":[106],"about":[107],"this":[108,188,193],"topic.":[109],"Thus,":[110],"we":[111,139,155,176],"conduct":[112],"survey":[114,194],"calibration.":[117],"Theoretically,":[118],"key":[120],"build":[125],"correspondence":[126,150],"optical":[132],"image.":[133],"From":[134],"viewpoint":[136],"correspondence,":[138],"attempt":[140],"divide":[142],"mainstream":[144],"into":[146],"explicit":[147],"implicit":[149],"based":[151],"methods.":[152],"After":[153],"that,":[154],"summarize":[156],"both":[157],"strength":[159],"weakness":[161],"current":[164],"works,":[165],"provide":[166],"methods":[168],"comparison,":[169],"list":[171],"open-source":[173],"implementations.":[174],"Finally,":[175],"analyze":[177],"tendency":[179],"approach,":[182],"discuss":[183],"remained":[185],"problems":[186],"field.":[189],"We":[190],"believe":[191],"that":[192],"benefits":[195],"community":[198],"autonomous":[200],"driving.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}