{"id":"https://openalex.org/W1482620625","doi":"https://doi.org/10.1177/0278364915580683","title":"Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations","display_name":"Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations","publication_year":2015,"publication_date":"2015-05-26","ids":{"openalex":"https://openalex.org/W1482620625","doi":"https://doi.org/10.1177/0278364915580683","mag":"1482620625"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915580683","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915580683","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5010118502","display_name":"Eduardo Fern\u00e1ndez-Moral","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Eduardo Fern\u00e1ndez-Moral","raw_affiliation_strings":["Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","raw_affiliation_strings":["Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010671420","display_name":"Vicente Ar\u00e9valo","orcid":"https://orcid.org/0000-0003-0622-207X"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Vicente Ar\u00e9valo","raw_affiliation_strings":["Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de M\u00e1laga, MAPIR Group, E.T.S. de Ingenier\u00eda Inform\u00e1tica, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010118502"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":8.9187,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.96939298,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"34","issue":"11","first_page":"1401","last_page":"1417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9962000250816345,"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":0.7258369326591492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7149980068206787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7062758803367615},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6502757668495178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.617862343788147},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5952166318893433},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.5890869498252869},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.47931137681007385},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.4473801255226135},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.425961971282959},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41725826263427734},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4158564805984497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34573233127593994},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.2798536717891693},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17375773191452026},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17301824688911438},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15709742903709412},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13388285040855408},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.09915268421173096}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7258369326591492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7149980068206787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7062758803367615},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6502757668495178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.617862343788147},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5952166318893433},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.5890869498252869},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.47931137681007385},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.4473801255226135},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.425961971282959},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41725826263427734},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4158564805984497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34573233127593994},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.2798536717891693},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17375773191452026},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17301824688911438},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15709742903709412},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13388285040855408},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.09915268421173096},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915580683","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915580683","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W625003409","https://openalex.org/W1600982264","https://openalex.org/W1881885736","https://openalex.org/W1976283188","https://openalex.org/W1989760884","https://openalex.org/W2006028570","https://openalex.org/W2035738977","https://openalex.org/W2044164936","https://openalex.org/W2046496533","https://openalex.org/W2055207897","https://openalex.org/W2059882850","https://openalex.org/W2062525513","https://openalex.org/W2071527717","https://openalex.org/W2074370150","https://openalex.org/W2080823437","https://openalex.org/W2083167454","https://openalex.org/W2085261163","https://openalex.org/W2087718299","https://openalex.org/W2102104695","https://openalex.org/W2105529373","https://openalex.org/W2110617326","https://openalex.org/W2120414367","https://openalex.org/W2121272499","https://openalex.org/W2124651605","https://openalex.org/W2127704830","https://openalex.org/W2128873520","https://openalex.org/W2132089677","https://openalex.org/W2143064560","https://openalex.org/W2145016343","https://openalex.org/W2154844948","https://openalex.org/W2155695215","https://openalex.org/W2158884168","https://openalex.org/W2399732523","https://openalex.org/W2544725465","https://openalex.org/W2565753657","https://openalex.org/W2739191067","https://openalex.org/W2758107681","https://openalex.org/W4230546494"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W1996530509","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2906246018","https://openalex.org/W2026415250","https://openalex.org/W1505959757"],"abstract_inverted_index":{"Many":[0],"applications":[1],"in":[2,99,121],"the":[3,50,59],"fields":[4],"of":[5,49,119,128,155],"mobile":[6],"robotics":[7],"and":[8,30,53,90,145,158],"autonomous":[9],"vehicles":[10],"employ":[11],"two":[12,129],"or":[13,27,73],"more":[14],"2D":[15],"laser":[16],"rangefinders":[17],"(LRFs)":[18],"for":[19],"different":[20],"purposes:":[21],"navigation,":[22],"obstacle":[23],"detection,":[24],"3D":[25],"mapping":[26],"simultaneous":[28],"localization":[29],"mapping.":[31],"The":[32],"extrinsic":[33,68],"calibration":[34,69,88],"between":[35],"such":[36,87],"sensors":[37],"(i.e.":[38],"finding":[39],"their":[40,67],"relative":[41],"poses)":[42],"is":[43,137],"required":[44],"to":[45,54,85,113,148],"exploit":[46],"effectively":[47],"all":[48],"sensor":[51],"measurements":[52,72],"perform":[55],"data":[56,147],"fusion.":[57],"In":[58,77],"literature,":[60],"most":[61],"works":[62],"employing":[63],"several":[64],"LRFs":[65,120,130],"obtain":[66,86],"from":[70,74,102],"manual":[71],"ad-hoc":[75],"solutions.":[76],"this":[78,156],"paper":[79],"we":[80],"present":[81],"a":[82,114,159],"new":[83],"method":[84,157],"easily":[89],"robustly":[91],"by":[92],"scanning":[93,132],"perpendicular":[94],"planes":[95,133],"(typically":[96],"corners":[97],"encountered":[98],"structured":[100],"scenes),":[101],"which":[103],"geometric":[104,124],"constraints":[105],"are":[106,134,141,161],"inferred.":[107],"This":[108],"technique":[109],"can":[110],"be":[111],"applied":[112],"rig":[115],"with":[116,143],"any":[117,123],"number":[118],"almost":[122],"configuration":[125],"(a":[126],"minimum":[127],"whose":[131],"not":[135],"parallel":[136],"required).":[138],"Experimental":[139],"results":[140],"presented":[142],"synthetic":[144],"real":[146],"validate":[149],"our":[150],"proposal.":[151],"A":[152],"C++":[153],"implementation":[154],"dataset":[160],"also":[162],"provided.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}