{"id":"https://openalex.org/W4416172892","doi":"https://doi.org/10.1109/wacv61042.2026.00190","title":"UniCalib: Targetless LiDAR-camera Calibration via Probabilistic Flow on Unified Depth Representations","display_name":"UniCalib: Targetless LiDAR-camera Calibration via Probabilistic Flow on Unified Depth Representations","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W4416172892","doi":"https://doi.org/10.1109/wacv61042.2026.00190"},"language":"en","primary_location":{"id":"doi:10.1109/wacv61042.2026.00190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv61042.2026.00190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2504.01416","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110194077","display_name":"Han Shu","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shu Han","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062208195","display_name":"Xubo Zhu","orcid":"https://orcid.org/0000-0001-9748-8900"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xubo Zhu","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010193820","display_name":"Ji Wu","orcid":"https://orcid.org/0000-0002-5511-5361"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Wu","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ximeng Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ximeng Cai","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069540177","display_name":"Wen Yang","orcid":"https://orcid.org/0000-0002-3263-8768"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Yang","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075662890","display_name":"Hong Yu","orcid":"https://orcid.org/0000-0003-0521-8933"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huai Yu","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073032922","display_name":"Gui-Song Xia","orcid":"https://orcid.org/0000-0001-7660-6090"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gui-Song Xia","raw_affiliation_strings":["Wuhan University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1906","last_page":"1915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.5320000052452087,"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":0.5320000052452087,"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":0.3400999903678894,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.05770000070333481,"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/calibration","display_name":"Calibration","score":0.6919999718666077},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.6043000221252441},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.6007999777793884},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5856999754905701},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4952000081539154},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4194999933242798},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4113999903202057},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.36809998750686646},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.3601999878883362}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7148000001907349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6952000260353088},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6919999718666077},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6474000215530396},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.6043000221252441},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.6007999777793884},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5856999754905701},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4952000081539154},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4194999933242798},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4113999903202057},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.36809998750686646},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.35350000858306885},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C113346285","wikidata":"https://www.wikidata.org/wiki/Q6804193","display_name":"Measured depth","level":2,"score":0.31779998540878296},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3133000135421753},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.25429999828338623},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/wacv61042.2026.00190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv61042.2026.00190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2504.01416","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.01416","pdf_url":"https://arxiv.org/pdf/2504.01416","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"},{"id":"doi:10.48550/arxiv.2504.01416","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2504.01416","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2504.01416","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.01416","pdf_url":"https://arxiv.org/pdf/2504.01416","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":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Online":[0],"targetless":[1],"extrinsic":[2],"LiDAR-camera":[3],"calibration":[4,57],"is":[5,115,173],"essential":[6],"for":[7],"robust":[8],"perception":[9],"in":[10],"computer":[11],"vision":[12],"applications":[13],"such":[14],"as":[15],"autonomous":[16],"driving.":[17],"However,":[18],"existing":[19],"methods":[20],"struggle":[21],"with":[22],"the":[23,70,76,80,106,130,134,145,168],"significant":[24],"modality":[25,71],"gap":[26,72],"between":[27],"heterogeneous":[28],"sensors":[29],"and":[30,42,79,121,147,161],"fail":[31],"to":[32,93,109,132],"handle":[33],"unreliable":[34,137],"correspondences":[35],"arising":[36],"from":[37],"real-world":[38],"challenges":[39],"like":[40],"occlusions":[41],"dynamic":[43],"objects.":[44],"To":[45],"address":[46],"these":[47],"issues,":[48],"we":[49],"introduce":[50],"UniCalib,":[51],"a":[52,60,90,100,118,122,155,162],"novel":[53],"method":[54],"that":[55,104],"performs":[56],"by":[58,73,117],"estimating":[59],"probabilistic":[61,101,113],"flow":[62,102,126],"on":[63,141,167],"unified":[64,91],"depth":[65,87],"representations.":[66],"UniCalib":[67],"first":[68],"bridges":[69],"converting":[74],"both":[75],"camera":[77],"images":[78],"sparse":[81,125],"LiDAR":[82],"points":[83],"into":[84],"unified,":[85],"dense":[86],"maps,":[88],"enabling":[89],"encoder":[92],"learn":[94],"consistent":[95],"features.":[96],"Subsequently,":[97],"it":[98,153],"learns":[99],"field":[103],"captures":[105],"correspondence":[107],"uncertainty":[108],"improve":[110],"robustness.":[111],"This":[112],"approach":[114],"reinforced":[116],"reliability":[119],"map":[120],"perceptually":[123],"weighted":[124],"loss,":[127],"which":[128],"guide":[129],"model":[131],"suppress":[133],"influence":[135],"of":[136,149,159,165],"regions.":[138],"Experimental":[139],"results":[140],"three":[142],"datasets":[143],"validate":[144],"accuracy":[146],"generalization":[148],"UniCalib.":[150],"In":[151],"particular,":[152],"achieves":[154],"mean":[156],"translation":[157],"error":[158,164],"0.550cm":[160],"rotation":[163],"0.044\u00b0":[166],"KITTI":[169],"dataset.":[170],"The":[171],"code":[172],"available":[174],"at":[175],"https://github.com/han-15/UniCalib.":[176]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}