{"id":"https://openalex.org/W4408182504","doi":"https://doi.org/10.1109/tro.2025.3548538","title":"Multiscale and Uncertainty-Aware Targetless Hand-Eye Calibration via the Gauss\u2013Helmert Model","display_name":"Multiscale and Uncertainty-Aware Targetless Hand-Eye Calibration via the Gauss\u2013Helmert Model","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408182504","doi":"https://doi.org/10.1109/tro.2025.3548538"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3548538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3548538","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031388932","display_name":"Marta \u010colakovi\u0107-Benceri\u0107","orcid":"https://orcid.org/0009-0000-2258-4519"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Marta \u010colakovi\u0107-Benceri\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0009-0000-2258-4519","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035374198","display_name":"Juraj Per\u0161i\u0107","orcid":"https://orcid.org/0000-0001-8127-5433"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Juraj Per\u0161i\u0107","raw_affiliation_strings":["Calirad, Zagreb, Croatia","Calirad, Ulica Augusta Haramba&#x0161;i&#x0107;a 4, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0001-8127-5433","affiliations":[{"raw_affiliation_string":"Calirad, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Calirad, Ulica Augusta Haramba&#x0161;i&#x0107;a 4, Zagreb, Croatia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035622961","display_name":"Ivan Markovi\u0107","orcid":"https://orcid.org/0000-0003-4138-1113"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Markovi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0003-4138-1113","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001473761","display_name":"Ivan Petrovi\u0107","orcid":"https://orcid.org/0000-0001-9961-5627"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Petrovi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0001-9961-5627","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing,Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":null,"apc_paid":null,"fwci":0.8661,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70192524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"41","issue":null,"first_page":"2340","last_page":"2357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12994","display_name":"Infrared Thermography in Medicine","score":0.953000009059906,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T12994","display_name":"Infrared Thermography in Medicine","score":0.953000009059906,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T14510","display_name":"Medical Imaging and Analysis","score":0.9476000070571899,"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"}},{"id":"https://openalex.org/T11196","display_name":"Non-Invasive Vital Sign Monitoring","score":0.9168999791145325,"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":0.6207422018051147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5849487781524658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5479514598846436},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.42969810962677},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4027100205421448},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33981096744537354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22313296794891357},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1534712016582489}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6207422018051147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5849487781524658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5479514598846436},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.42969810962677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4027100205421448},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33981096744537354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22313296794891357},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1534712016582489},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2025.3548538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3548538","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:repozitorij.fer.unizg.hr:fer_13408","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S7407055106","display_name":"FER Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics (ISSN 1941-0468)","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:repozitorij.fer.unizg.hr:fer_13408","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S7407055106","display_name":"FER Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics (ISSN 1941-0468)","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W177883436","https://openalex.org/W1495976112","https://openalex.org/W1845558254","https://openalex.org/W1990398405","https://openalex.org/W2021599527","https://openalex.org/W2046357695","https://openalex.org/W2048249748","https://openalex.org/W2057479940","https://openalex.org/W2062525513","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2107105904","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2121389894","https://openalex.org/W2139442815","https://openalex.org/W2167667767","https://openalex.org/W2295149141","https://openalex.org/W2315846576","https://openalex.org/W2410061664","https://openalex.org/W2416058603","https://openalex.org/W2474281075","https://openalex.org/W2745007981","https://openalex.org/W2771252932","https://openalex.org/W2797395780","https://openalex.org/W2809592516","https://openalex.org/W2889728390","https://openalex.org/W2902093375","https://openalex.org/W2904903133","https://openalex.org/W2909157769","https://openalex.org/W2910089361","https://openalex.org/W2963793227","https://openalex.org/W2964321586","https://openalex.org/W3001225245","https://openalex.org/W3025575255","https://openalex.org/W3123212140","https://openalex.org/W3130081760","https://openalex.org/W3143504974","https://openalex.org/W3206651767","https://openalex.org/W3206733873","https://openalex.org/W4205475476","https://openalex.org/W4231071941","https://openalex.org/W4299439662","https://openalex.org/W4310872812","https://openalex.org/W4316669384","https://openalex.org/W4388407438","https://openalex.org/W4390738960","https://openalex.org/W6849701445"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"The":[0,42,95,129],"operational":[1],"reliability":[2],"of":[3,25,35,44,51,72,97,131],"an":[4],"autonomous":[5],"robot":[6],"depends":[7],"crucially":[8],"on":[9,58,88],"extrinsic":[10],"sensor":[11],"calibration":[12,24,50,86,141],"as":[13],"a":[14,45,79],"prerequisite":[15],"for":[16,47,84,93],"precise":[17],"and":[18,31,39,54,81,109,117,134,146],"accurate":[19],"data":[20],"fusion.":[21],"Exploring":[22],"the":[23,32,48,59,65,70,89],"unscaled":[26,108],"sensors":[27,53,111],"(e.g.,":[28],"monocular":[29],"cameras)":[30],"effective":[33],"utilization":[34],"uncertainties":[36],"are":[37,123],"difficult":[38],"often":[40],"overlooked.":[41],"development":[43],"solution":[46,83],"simultaneous":[49],"hand-eye":[52],"scale":[55],"estimation":[56],"based":[57,87],"Gauss\u2013Helmert":[60],"model":[61],"aims":[62],"to":[63,105],"utilize":[64],"valuable":[66],"information":[67],"contained":[68],"in":[69,143,158],"uncertainty":[71],"odometry.":[73],"In":[74],"this":[75],"work,":[76],"we":[77],"propose":[78],"versatile":[80],"robust":[82],"batch":[85],"analytical":[90],"on-manifold":[91],"approach":[92],"estimation.":[94],"versatility":[96],"our":[98,132],"method":[99,133],"is":[100],"demonstrated":[101],"by":[102],"its":[103,135,150],"ability":[104],"calibrate":[106],"multiple":[107],"metric-scaled":[110],"while":[112],"dealing":[113],"with":[114,125,137,153],"odometry":[115],"failures":[116],"reinitializations.":[118],"Importantly,":[119],"all":[120],"estimated":[121],"parameters":[122],"provided":[124],"their":[126],"corresponding":[127],"uncertainties.":[128],"validation":[130],"comparison":[136],"five":[138],"competing":[139],"state-of-the-art":[140],"methods":[142],"both":[144],"simulations":[145],"real-world":[147],"experiments":[148],"show":[149],"superior":[151],"accuracy,":[152],"particularly":[154],"promising":[155],"results":[156],"observed":[157],"high-noise":[159],"scenarios.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
