{"id":"https://openalex.org/W3106861319","doi":"https://doi.org/10.1109/tro.2020.3033698","title":"Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis","display_name":"Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis","publication_year":2020,"publication_date":"2020-11-25","ids":{"openalex":"https://openalex.org/W3106861319","doi":"https://doi.org/10.1109/tro.2020.3033698","mag":"3106861319"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3033698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3033698","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5006499051","display_name":"Kejie Qiu","orcid":"https://orcid.org/0000-0002-2516-3020"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kejie Qiu","raw_affiliation_strings":["Alibaba A.I. Labs, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alibaba A.I. Labs, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082261032","display_name":"Tong Qin","orcid":"https://orcid.org/0000-0002-0994-9816"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tong Qin","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101789653","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-9974-651X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jie Pan","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082154258","display_name":"Siqi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Siqi Liu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":52.5971,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.99687739,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"37","issue":"2","first_page":"587","last_page":"602"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8560993671417236},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7450996041297913},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7317032814025879},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7185916900634766},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6460633873939514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6305971741676331},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6188980340957642},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6142742037773132},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.526616632938385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26536738872528076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18615514039993286},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1815868318080902}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8560993671417236},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7450996041297913},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7317032814025879},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7185916900634766},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6460633873939514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6305971741676331},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6188980340957642},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6142742037773132},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.526616632938385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26536738872528076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18615514039993286},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1815868318080902},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2020.3033698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3033698","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.ust.hk:1783.1-108722","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000637533900019","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1481925518","https://openalex.org/W1491704275","https://openalex.org/W1498041548","https://openalex.org/W1612997784","https://openalex.org/W1979843398","https://openalex.org/W1998058414","https://openalex.org/W2000366549","https://openalex.org/W2006169361","https://openalex.org/W2031031248","https://openalex.org/W2036094175","https://openalex.org/W2036117503","https://openalex.org/W2055904838","https://openalex.org/W2064451896","https://openalex.org/W2077751272","https://openalex.org/W2091790851","https://openalex.org/W2108371319","https://openalex.org/W2116318753","https://openalex.org/W2121875890","https://openalex.org/W2122675750","https://openalex.org/W2123261262","https://openalex.org/W2124906943","https://openalex.org/W2125695486","https://openalex.org/W2136870066","https://openalex.org/W2138566468","https://openalex.org/W2141398271","https://openalex.org/W2147536420","https://openalex.org/W2148886336","https://openalex.org/W2217105717","https://openalex.org/W2296228853","https://openalex.org/W2317173311","https://openalex.org/W2325922889","https://openalex.org/W2396274919","https://openalex.org/W2418849765","https://openalex.org/W2474281075","https://openalex.org/W2519559998","https://openalex.org/W2538522345","https://openalex.org/W2745859992","https://openalex.org/W2784131351","https://openalex.org/W2887564721","https://openalex.org/W2894705404","https://openalex.org/W2909816247","https://openalex.org/W2937503962","https://openalex.org/W2944462671","https://openalex.org/W2963416037","https://openalex.org/W3001571848","https://openalex.org/W3103648783","https://openalex.org/W3117804044","https://openalex.org/W3143504974","https://openalex.org/W3144404684","https://openalex.org/W6677880940","https://openalex.org/W6681402112","https://openalex.org/W6688774849","https://openalex.org/W6761548879"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4312092966","https://openalex.org/W4293242661","https://openalex.org/W2951795132","https://openalex.org/W2372609347","https://openalex.org/W3153542184","https://openalex.org/W1994559856","https://openalex.org/W2785359964"],"abstract_inverted_index":{"Accurate":[0],"and":[1,60,120,197,239,251,263],"robust":[2],"calibration":[3,12,34,38,56,104,122,144,173,249,253],"is":[4,16,40,65,94,106,149],"crucial":[5],"to":[6,133,151,158,190],"a":[7,74,87,95,102,139,153,191,256],"multisensor":[8,92,258],"fusion-based":[9],"system.":[10,89],"The":[11],"of":[13,20,24,57,178,232,241,255,265],"heterogeneous":[14,58,91,257],"sensors":[15,161,179],"particularly":[17],"challenging":[18],"because":[19],"the":[21,25,30,54,61,98,113,143,185,200,215,224,237,242,252,261],"huge":[22],"difference":[23],"captured":[26],"sensor":[27,76,136,213,234],"data.":[28],"On":[29],"other":[31],"hand,":[32],"many":[33],"approaches":[35],"ignore":[36],"temporal":[37,55,201],"that":[39,156,162],"in":[41,97,207,221,223],"fact":[42],"as":[43,45,79,142],"important":[44],"spatial":[46],"calibration.":[47],"In":[48],"this":[49,109],"article,":[50],"we":[51,111],"focus":[52],"on":[53],"sensors,":[59],"corresponding":[62],"extrinsic":[63,216],"rotation":[64,217],"also":[66,181],"derived.":[67],"Most":[68],"existing":[69],"methods":[70,130],"are":[71,124,131],"specialized":[72],"for":[73,118],"certain":[75,233],"combination,":[77],"such":[78],"an":[80,146,175],"inertial":[81],"measurement":[82],"unit":[83],"(IMU)":[84],"camera":[85],"or":[86],"camera-Lidar":[88],"However,":[90],"fusion":[93],"tendency":[96],"robotics":[99],"area,":[100],"so":[101],"unified":[103,154],"method":[105,244],"desired.":[107],"To":[108],"end,":[110],"leverage":[112],"3-D":[114,135,166,193,226],"rotational":[115,167],"motion":[116,194,227],"feature":[117],"calibration,":[119],"auxiliary":[121],"boards":[123],"not":[125],"needed":[126],"since":[127],"multiple":[128],"odometry":[129],"available":[132],"capture":[134],"motion.":[137,168],"Using":[138],"high-frequency":[140],"IMU":[141],"reference,":[145],"IMU-centric":[147,172],"scheme":[148],"designed":[150],"achieve":[152],"framework":[155],"adapts":[157],"various":[159],"target":[160],"can":[163,180,203,218],"independently":[164],"estimate":[165],"By":[169],"combining":[170],"independent":[171],"pairs,":[174],"arbitrary":[176],"pair":[177],"be":[182,204,219],"calibrated":[183],"using":[184],"same":[186,225],"reference":[187],"IMU.":[188],"Due":[189],"novel":[192],"correlation":[195,228],"quantification":[196],"analysis":[198],"mechanism,":[199],"offset":[202],"first":[205],"estimated":[206],"real":[208],"time.":[209],"Given":[210],"temporally":[211],"aligned":[212],"motion,":[214],"derived":[220],"closed-form":[222],"mechanism.":[229],"Experimental":[230],"results":[231],"combinations":[235],"show":[236],"accuracy":[238],"robustness":[240],"proposed":[243],"through":[245],"comparison":[246],"with":[247],"state-of-the-art":[248],"approaches,":[250],"result":[254],"set":[259],"demonstrates":[260],"scalability":[262],"versatility":[264],"our":[266],"method.":[267]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}