{"id":"https://openalex.org/W2460206650","doi":"https://doi.org/10.3390/s16060933","title":"Indirect Correspondence-Based Robust Extrinsic Calibration of LiDAR and Camera","display_name":"Indirect Correspondence-Based Robust Extrinsic Calibration of LiDAR and Camera","publication_year":2016,"publication_date":"2016-06-22","ids":{"openalex":"https://openalex.org/W2460206650","doi":"https://doi.org/10.3390/s16060933","mag":"2460206650","pmid":"https://pubmed.ncbi.nlm.nih.gov/27338416"},"language":"en","primary_location":{"id":"doi:10.3390/s16060933","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16060933","pdf_url":"https://www.mdpi.com/1424-8220/16/6/933/pdf?version=1466598159","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/6/933/pdf?version=1466598159","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039464545","display_name":"Sungdae Sim","orcid":"https://orcid.org/0000-0002-3216-278X"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungdae Sim","raw_affiliation_strings":["Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043359305","display_name":"Juil Sock","orcid":"https://orcid.org/0000-0002-5780-4777"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juil Sock","raw_affiliation_strings":["Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004130063","display_name":"Kiho Kwak","orcid":"https://orcid.org/0000-0003-4911-2292"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kiho Kwak","raw_affiliation_strings":["Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, P.O.Box 35, Yuseong, Daejeon 34186, Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004130063"],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.703,"has_fulltext":true,"cited_by_count":46,"citation_normalized_percentile":{"value":0.93584508,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"16","issue":"6","first_page":"933","last_page":"933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9995999932289124,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9984999895095825,"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":0.8088443279266357},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7714167833328247},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6789067983627319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6447892785072327},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6442301273345947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6323391199111938},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5312008261680603},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.46329888701438904},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.45478546619415283},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41272294521331787},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3530813455581665},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32857680320739746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23365887999534607},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08446940779685974},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08064320683479309}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.8088443279266357},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7714167833328247},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6789067983627319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6447892785072327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6442301273345947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6323391199111938},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5312008261680603},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.46329888701438904},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.45478546619415283},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41272294521331787},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3530813455581665},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32857680320739746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23365887999534607},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08446940779685974},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08064320683479309},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s16060933","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16060933","pdf_url":"https://www.mdpi.com/1424-8220/16/6/933/pdf?version=1466598159","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:27338416","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27338416","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:6e863a45e1154da8bedde1d1540caeff","is_oa":true,"landing_page_url":"https://doaj.org/article/6e863a45e1154da8bedde1d1540caeff","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 6, p 933 (2016)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3901968","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4934358","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/16/6/933/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s16060933","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 16; Issue 6; Pages: 933","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16060933","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16060933","pdf_url":"https://www.mdpi.com/1424-8220/16/6/933/pdf?version=1466598159","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2460206650.pdf","grobid_xml":"https://content.openalex.org/works/W2460206650.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W72152974","https://openalex.org/W1965685114","https://openalex.org/W2008229822","https://openalex.org/W2026983694","https://openalex.org/W2046033161","https://openalex.org/W2074602185","https://openalex.org/W2085052797","https://openalex.org/W2087070363","https://openalex.org/W2095614026","https://openalex.org/W2104584763","https://openalex.org/W2111365302","https://openalex.org/W2116046858","https://openalex.org/W2133505209","https://openalex.org/W2146160736","https://openalex.org/W2161219841","https://openalex.org/W2166988749","https://openalex.org/W2172030425","https://openalex.org/W2216169164","https://openalex.org/W2256578114","https://openalex.org/W2295149141","https://openalex.org/W2296319761","https://openalex.org/W3083767870","https://openalex.org/W3149553225","https://openalex.org/W3152092885","https://openalex.org/W4249426365","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4221065211","https://openalex.org/W2961044605"],"abstract_inverted_index":{"LiDAR":[0],"and":[1,10,50,77,106],"cameras":[2],"have":[3],"been":[4],"broadly":[5],"utilized":[6],"in":[7,15,130],"computer":[8],"vision":[9],"autonomous":[11],"vehicle":[12],"applications.":[13],"However,":[14],"order":[16],"to":[17,91,101,111,124,174],"convert":[18],"data":[19],"between":[20,32,65,103],"the":[21,28,33,63,70,93,112,116,126,131,153,176,195],"local":[22],"coordinate":[23],"systems,":[24],"we":[25,38,97,119,146],"must":[26],"estimate":[27],"rigid":[29],"body":[30],"transformation":[31],"sensors.":[34],"In":[35],"this":[36],"paper,":[37],"propose":[39],"a":[40,81,104,107,121,142,148],"robust":[41,138],"extrinsic":[42,56,154,180],"calibration":[43,53,57,83,94,132,139,150,181,189],"algorithm":[44,87],"that":[45,151,187],"can":[46],"be":[47],"implemented":[48],"easily":[49],"has":[51,191],"small":[52],"error.":[54],"The":[55,73,85,183],"parameters":[58,155],"are":[59,75],"estimated":[60],"by":[61,161],"minimizing":[62,162],"distance":[64,102],"corresponding":[66],"features":[67,74,79],"projected":[68],"onto":[69],"image":[71],"plane.":[72],"edge":[76],"centerline":[78],"on":[80,136],"v-shaped":[82],"target.":[84],"proposed":[86],"contributes":[88],"two":[89],"ways":[90],"improve":[92],"accuracy.":[95],"First,":[96],"use":[98],"different":[99],"weights":[100],"point":[105],"line":[108],"feature":[109],"according":[110],"correspondence":[113],"accuracy":[114],"of":[115,128,156,178],"features.":[117],"Second,":[118],"apply":[120],"penalizing":[122],"function":[123,165],"exclude":[125],"influence":[127],"outliers":[129],"datasets.":[133],"Additionally,":[134],"based":[135],"our":[137,179,188],"approach":[140],"for":[141],"single":[143],"LiDAR-camera":[144],"pair,":[145],"introduce":[147],"joint":[149],"estimates":[152],"multiple":[157],"sensors":[158],"at":[159],"once":[160],"one":[163],"objective":[164],"with":[166],"loop":[167],"closing":[168],"constraints.":[169],"We":[170],"conduct":[171],"several":[172],"experiments":[173],"evaluate":[175],"performance":[177,193],"algorithm.":[182],"experimental":[184],"results":[185],"show":[186],"method":[190],"better":[192],"than":[194],"other":[196],"approaches.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
