{"id":"https://openalex.org/W4390224185","doi":"https://doi.org/10.1109/tro.2023.3347130","title":"Online Camera\u2013LiDAR Calibration Monitoring and Rotational Drift Tracking","display_name":"Online Camera\u2013LiDAR Calibration Monitoring and Rotational Drift Tracking","publication_year":2023,"publication_date":"2023-12-26","ids":{"openalex":"https://openalex.org/W4390224185","doi":"https://doi.org/10.1109/tro.2023.3347130"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3347130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3347130","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":"http://hdl.handle.net/10467/113999","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102980436","display_name":"Jaroslav Moravec","orcid":"https://orcid.org/0000-0002-3336-8931"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jaroslav Moravec","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-3336-8931","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034113664","display_name":"Radim \u0160\u00e1ra","orcid":"https://orcid.org/0000-0002-2032-5764"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Radim \u0160\u00e1ra","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-2032-5764","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.7508,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.6454206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"40","issue":null,"first_page":"1527","last_page":"1545"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.993399977684021,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7480488419532776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7010097503662109},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6219937205314636},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5226435661315918},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5197493433952332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5175789594650269},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.43325212597846985},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4219295382499695},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.4204678237438202},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4148930609226227},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40597003698349},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2765260338783264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11882150173187256},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0894860327243805}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7480488419532776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7010097503662109},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6219937205314636},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5226435661315918},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5197493433952332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5175789594650269},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.43325212597846985},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4219295382499695},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.4204678237438202},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4148930609226227},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40597003698349},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2765260338783264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11882150173187256},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0894860327243805},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3347130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3347130","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:dspace.cvut.cz:10467/113999","is_oa":true,"landing_page_url":"http://hdl.handle.net/10467/113999","pdf_url":null,"source":{"id":"https://openalex.org/S4306400739","display_name":"Cvut DSpace (Czech Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I44504214","host_organization_name":"Czech Technical University in Prague","host_organization_lineage":["https://openalex.org/I44504214"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:dspace.cvut.cz:10467/113999","is_oa":true,"landing_page_url":"http://hdl.handle.net/10467/113999","pdf_url":null,"source":{"id":"https://openalex.org/S4306400739","display_name":"Cvut DSpace (Czech Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I44504214","host_organization_name":"Czech Technical University in Prague","host_organization_lineage":["https://openalex.org/I44504214"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"journal article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5400000214576721}],"awards":[{"id":"https://openalex.org/G4366822289","display_name":null,"funder_award_id":"SGS22/111/OHK3/2T/13","funder_id":"https://openalex.org/F4320309972","funder_display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze"},{"id":"https://openalex.org/G76589273","display_name":null,"funder_award_id":"TN02000054","funder_id":"https://openalex.org/F4320315323","funder_display_name":"Technology Agency of the Czech Republic"}],"funders":[{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"},{"id":"https://openalex.org/F4320315323","display_name":"Technology Agency of the Czech Republic","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W200625430","https://openalex.org/W1573751879","https://openalex.org/W1575087183","https://openalex.org/W1983777936","https://openalex.org/W1991092447","https://openalex.org/W1994616650","https://openalex.org/W1999343901","https://openalex.org/W2024046085","https://openalex.org/W2031388759","https://openalex.org/W2042791726","https://openalex.org/W2095905764","https://openalex.org/W2099152022","https://openalex.org/W2111365302","https://openalex.org/W2112731915","https://openalex.org/W2115579991","https://openalex.org/W2133505209","https://openalex.org/W2136261253","https://openalex.org/W2145023731","https://openalex.org/W2154056001","https://openalex.org/W2158698691","https://openalex.org/W2166988749","https://openalex.org/W2167667767","https://openalex.org/W2246782745","https://openalex.org/W2295149141","https://openalex.org/W2902093375","https://openalex.org/W2908599206","https://openalex.org/W2963270286","https://openalex.org/W2967926749","https://openalex.org/W2980040548","https://openalex.org/W3001930642","https://openalex.org/W3008174616","https://openalex.org/W3035172746","https://openalex.org/W3040318838","https://openalex.org/W3101587859","https://openalex.org/W3129293064","https://openalex.org/W3183685035","https://openalex.org/W3206851789","https://openalex.org/W3209972575","https://openalex.org/W3214451692","https://openalex.org/W4286543692","https://openalex.org/W4289145348","https://openalex.org/W4309913730","https://openalex.org/W6638545294","https://openalex.org/W6677872732","https://openalex.org/W6691189842","https://openalex.org/W6745935785","https://openalex.org/W6774635502","https://openalex.org/W6884869577"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4308259661","https://openalex.org/W4328132048","https://openalex.org/W2594043982","https://openalex.org/W3036493597"],"abstract_inverted_index":{"The":[0,122,149],"relative":[1],"poses":[2],"of":[3,73,115,125,152,162],"visual":[4],"perception":[5],"sensors":[6],"distributed":[7],"over":[8,131],"a":[9,47,71,78,96,104,113],"vehicle's":[10],"body":[11],"may":[12],"vary":[13],"due":[14],"to":[15],"dynamic":[16],"forces,":[17],"thermal":[18],"dilations,":[19],"or":[20],"minor":[21],"accidents.":[22],"This":[23],"article":[24],"proposes":[25],"two":[26],"methods,":[27],"Online":[28],"CAlibration":[29],"MOnitoring":[30],"(OCAMO)":[31],"and":[32,36,87,101,108,141],"LTO,":[33],"that":[34],"monitor":[35],"track":[37],"the":[38,55,82,166],"LiDAR\u2013camera":[39],"extrinsic":[40],"calibration":[41,56,127,157],"parameters":[42,51,57,84],"online.":[43],"Calibration":[44],"monitoring":[45,128,135,143],"provides":[46],"certificate":[48],"for":[49,81],"reference-calibration":[50],"validity.":[52],"Tracking":[53],"follows":[54],"drift":[58,158],"in":[59],"time.":[60],"OCAMO":[61,134],"is":[62,130],"based":[63],"on":[64,146],"an":[65,160],"adaptive":[66],"online":[67],"stochastic":[68],"optimization":[69],"with":[70,103,159],"memory":[72,106],"past":[74],"evolution.":[75],"LTO":[76,142],"uses":[77],"fixed-grid":[79],"search":[80],"optimal":[83],"per":[85],"frame":[86],"without":[88],"memory.":[89],"Both":[90,111],"methods":[91,129,154],"use":[92],"low-level":[93],"point-like":[94],"features,":[95],"robust":[97],"kernel-based":[98],"loss":[99],"function,":[100],"work":[102],"small":[105,138],"footprint":[107],"computational":[109],"overhead.":[110],"include":[112],"preselection":[114],"informative":[116],"data,":[117],"which":[118],"limits":[119],"their":[120],"divergence.":[121],"statistical":[123],"accuracy":[124,161],"both":[126,153],"98%,":[132],"whereas":[133],"can":[136],"detect":[137],"decalibrations":[139],"better,":[140],"reacts":[144],"faster":[145],"abrupt":[147],"decalibrations.":[148],"tracking":[150],"variants":[151],"follow":[155],"random":[156],"about$\\mathbf":[163],"{0.03^\\circ":[164],"}$in":[165],"yaw":[167],"angle.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2025-10-10T00:00:00"}