{"id":"https://openalex.org/W2966701437","doi":"https://doi.org/10.1109/romoco.2019.8787380","title":"Multi-sensor extrinsic calibration with the Adam optimizer","display_name":"Multi-sensor extrinsic calibration with the Adam optimizer","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2966701437","doi":"https://doi.org/10.1109/romoco.2019.8787380","mag":"2966701437"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2019.8787380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-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/A5081217765","display_name":"Joanna Piasek","orcid":"https://orcid.org/0000-0001-6621-8879"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Joanna Piasek","raw_affiliation_strings":["Institute of Automation and Robotics, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Automation and Robotics, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090443600","display_name":"Rafa\u0142 Staszak","orcid":"https://orcid.org/0000-0002-5235-4201"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Rafal Staszak","raw_affiliation_strings":["Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062979054","display_name":"Karol Piaskowski","orcid":"https://orcid.org/0000-0002-4582-3524"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Karol Piaskowski","raw_affiliation_strings":["Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065531863","display_name":"Dominik Belter","orcid":"https://orcid.org/0000-0003-3002-9747"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Dominik Belter","raw_affiliation_strings":["Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081217765"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47281094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"14","issue":null,"first_page":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9994000196456909,"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":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7309130430221558},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7025858163833618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6989388465881348},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5755269527435303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5325011014938354},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5288235545158386},{"id":"https://openalex.org/keywords/smart-camera","display_name":"Smart camera","score":0.4836626946926117},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4511297941207886},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.44065049290657043},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4355849623680115},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4206102788448334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1746966540813446}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7309130430221558},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7025858163833618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6989388465881348},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5755269527435303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5325011014938354},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5288235545158386},{"id":"https://openalex.org/C161334170","wikidata":"https://www.wikidata.org/wiki/Q1428778","display_name":"Smart camera","level":2,"score":0.4836626946926117},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4511297941207886},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.44065049290657043},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4355849623680115},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4206102788448334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1746966540813446},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2019.8787380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W992428934","https://openalex.org/W1522301498","https://openalex.org/W1593729956","https://openalex.org/W1980136663","https://openalex.org/W1984239963","https://openalex.org/W2016959837","https://openalex.org/W2112731915","https://openalex.org/W2127594538","https://openalex.org/W2133844819","https://openalex.org/W2138537392","https://openalex.org/W2162026804","https://openalex.org/W2167667767","https://openalex.org/W2182229738","https://openalex.org/W2909896524","https://openalex.org/W2964121744","https://openalex.org/W3101394699","https://openalex.org/W6631190155","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W2096059205","https://openalex.org/W2321086849","https://openalex.org/W2366688168","https://openalex.org/W2018226387","https://openalex.org/W2333223448","https://openalex.org/W2897941598","https://openalex.org/W2089184644","https://openalex.org/W1593370737","https://openalex.org/W90406836","https://openalex.org/W42909716"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"the":[5,8,15,33,36,38,44,48,54,58,61,68,74,77,96,119,126,131],"application":[6,98],"of":[7,14,35,60,76,99,121,125],"Adam":[9,100],"optimizer":[10],"to":[11,32,53,67,117],"extrinsic":[12],"calibration":[13,132],"multi":[16],"-sensory":[17],"system.":[18],"Our":[19],"robot":[20,69],"is":[21,30,41,51],"equipped":[22],"with":[23,65,102],"three":[24,114],"RGB-D":[25],"cameras.":[26],"The":[27,80],"first":[28],"camera":[29,40,50,63],"attached":[31,52],"wrist":[34,62],"arm,":[37],"second":[39],"mounted":[42],"in":[43,89],"robot's":[45],"head,":[46],"and":[47,71,108],"third":[49],"mobile":[55],"base.":[56],"Additionally,":[57],"pose":[59],"changes":[64],"respect":[66],"frame":[70],"depends":[72],"on":[73,130],"configuration":[75],"robotic":[78],"arm.":[79],"proposed":[81,97],"method":[82,101],"finds":[83],"all":[84],"relative":[85],"transformations":[86],"between":[87],"cameras":[88],"a":[90],"single":[91],"optimization":[92],"procedure.":[93],"We":[94,111],"compare":[95],"black-box":[103],"evolutionary":[104],"algorithm,":[105],"Levenberg-Marquardt":[106],"optimization,":[107],"graph-based":[109],"optimization.":[110],"also":[112],"evaluated":[113],"cost":[115],"functions":[116],"verify":[118],"influence":[120],"various":[122],"parameterization":[123],"methods":[124],"SO":[127],"(3)":[128],"rotation":[129],"results.":[133]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
