{"id":"https://openalex.org/W4415821027","doi":"https://doi.org/10.1109/tits.2025.3625727","title":"An Automatic Extrinsic Calibration Method for mmWave Radar and Camera in Traffic Environment","display_name":"An Automatic Extrinsic Calibration Method for mmWave Radar and Camera in Traffic Environment","publication_year":2025,"publication_date":"2025-11-03","ids":{"openalex":"https://openalex.org/W4415821027","doi":"https://doi.org/10.1109/tits.2025.3625727"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2025.3625727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3625727","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/A5101487434","display_name":"Yulin Wu","orcid":"https://orcid.org/0000-0003-0661-6562"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulin Wu","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junran Fan","orcid":"https://orcid.org/0009-0008-6836-2207"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junran Fan","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0008-6836-2207","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101635429","display_name":"Yuxuan Ma","orcid":"https://orcid.org/0000-0002-1424-2487"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Ma","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108535789","display_name":"Luyue Huang","orcid":"https://orcid.org/0009-0001-0950-0269"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihang Huang","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0001-0950-0269","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015609860","display_name":"Guolong Cui","orcid":"https://orcid.org/0000-0001-5707-6311"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guolong Cui","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-5707-6311","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045496426","display_name":"Shisheng Guo","orcid":"https://orcid.org/0000-0002-5954-9837"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shisheng Guo","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-5954-9837","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.4694,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.68812766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"27","issue":"1","first_page":"666","last_page":"680"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.13740000128746033,"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":0.13740000128746033,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.11829999834299088,"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"}},{"id":"https://openalex.org/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.06270000338554382,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6654000282287598},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.642300009727478},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4778999984264374},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.44670000672340393},{"id":"https://openalex.org/keywords/gaussian-network-model","display_name":"Gaussian network model","score":0.41449999809265137},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4115999937057495},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.3718999922275543},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.36649999022483826}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7114999890327454},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6654000282287598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6466000080108643},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.642300009727478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6384999752044678},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4778999984264374},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.44670000672340393},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.41449999809265137},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39410001039505005},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.3718999922275543},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.36649999022483826},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.36160001158714294},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.3546000123023987},{"id":"https://openalex.org/C24145651","wikidata":"https://www.wikidata.org/wiki/Q2901249","display_name":"Bhattacharyya distance","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.28929999470710754},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.28859999775886536},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3625727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3625727","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/G3306248388","display_name":null,"funder_award_id":"2025ZNSFSC0467","funder_id":"https://openalex.org/F4320329861","funder_display_name":"Natural Science Foundation of Sichuan Province"},{"id":"https://openalex.org/G8230658463","display_name":null,"funder_award_id":"62371110","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"},{"id":"https://openalex.org/F4320329861","display_name":"Natural Science Foundation of Sichuan Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2056341306","https://openalex.org/W2083624955","https://openalex.org/W2108196201","https://openalex.org/W2134236847","https://openalex.org/W2145633829","https://openalex.org/W2149197198","https://openalex.org/W2150190641","https://openalex.org/W2197051856","https://openalex.org/W2281954672","https://openalex.org/W2344934580","https://openalex.org/W2771019933","https://openalex.org/W2802574842","https://openalex.org/W2907665615","https://openalex.org/W2989938886","https://openalex.org/W2996759437","https://openalex.org/W3003320095","https://openalex.org/W3022866026","https://openalex.org/W3039515597","https://openalex.org/W3089226510","https://openalex.org/W3120910864","https://openalex.org/W3171843835","https://openalex.org/W3210701025","https://openalex.org/W4205172069","https://openalex.org/W4206262260","https://openalex.org/W4224229683","https://openalex.org/W4225716276","https://openalex.org/W4244393654","https://openalex.org/W4252799384","https://openalex.org/W4324290418","https://openalex.org/W4385569668","https://openalex.org/W4386561313","https://openalex.org/W4390224738","https://openalex.org/W4396720269","https://openalex.org/W4399311102","https://openalex.org/W4403780685"],"related_works":[],"abstract_inverted_index":{"Millimeter-wave":[0],"(mmWave)":[1],"radar":[2,76,146,162],"and":[3,58,77,109,163,170,179,189,241,246],"camera":[4,78,164],"are":[5,165,205],"two":[6],"of":[7,52,141],"the":[8,39,97,103,107,110,145,154,187,202,208,213,231],"most":[9],"critical":[10],"sensors":[11,55,108],"in":[12,30,46,60,79,237],"modern":[13],"intelligent":[14],"transportation":[15],"systems":[16],"(ITS),":[17],"enabling":[18],"complex":[19],"fusion-based":[20],"perception":[21],"tasks":[22],"through":[23,195],"collaborative":[24],"working.":[25],"Achieving":[26],"high-quality":[27],"data":[28,228],"fusion":[29],"ITS":[31],"requires":[32],"precise":[33],"extrinsic":[34,71],"parameters":[35],"(EPs),":[36],"which":[37,101],"define":[38],"relative":[40],"spatial":[41,104],"relationship":[42,185],"between":[43,54,106,186],"sensors.":[44],"However,":[45],"real":[47],"traffic":[48,80,226],"environments,":[49,81],"manual":[50],"measurement":[51],"EPs":[53,204],"is":[56,123,131,147,193],"labor-intensive":[57],"limited":[59],"accuracy.":[61],"To":[62],"overcome":[63],"these":[64],"challenges,":[65],"this":[66],"paper":[67],"proposes":[68],"an":[69,126],"automatic":[70],"calibration":[72,92,114,215,239],"method":[73,115,233],"for":[74],"mmWave":[75],"requiring":[82],"only":[83],"time-synchronized":[84],"sensor":[85],"data.":[86],"First,":[87],"we":[88],"develop":[89],"a":[90,113,183,196],"novel":[91],"model":[93,130],"with":[94],"eight":[95],"parameters,":[96],"radar-camera-ground":[98],"(RCG)":[99],"model,":[100],"describes":[102],"relationships":[105],"ground.":[111],"Then,":[112],"named":[116],"Gaussian":[117,172,191],"Modeling":[118],"Linear":[119],"Optical":[120],"Projection":[121],"(GLP)":[122],"proposed.":[124],"Specifically,":[125],"image":[127],"instance":[128],"segmentation":[129],"applied":[132],"to":[133,153],"detect":[134],"targets":[135,142,159],"from":[136],"images.":[137],"Simultaneously,":[138],"2D":[139,171,190],"information":[140],"detected":[143,160],"by":[144,161],"extended":[148],"into":[149,167],"3D":[150,169,188],"space":[151],"according":[152],"RCG":[155],"Model.":[156],"Next,":[157],"vehicle":[158],"transformed":[166],"corresponding":[168],"models,":[173],"respectively,":[174],"leveraging":[175],"their":[176],"positional,":[177],"velocity,":[178],"shape":[180],"features.":[181],"Afterward,":[182],"mapping":[184],"models":[192],"established":[194],"linearized":[197],"optical":[198],"projection":[199],"function.":[200],"Finally,":[201],"optimal":[203],"estimated":[206],"via":[207],"global":[209],"optimization":[210],"algorithm,":[211],"minimizing":[212],"designed":[214],"loss":[216],"function":[217],"based":[218],"on":[219,224],"Bhattacharyya":[220],"distance.":[221],"Experimental":[222],"results":[223],"practical":[225],"scenario":[227],"demonstrate":[229],"that":[230],"proposed":[232],"outperforms":[234],"existing":[235],"approaches":[236],"average":[238],"accuracy":[240],"robustness,":[242],"validating":[243],"its":[244],"reliability":[245],"superiority.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-11-03T00:00:00"}
