{"id":"https://openalex.org/W2928723478","doi":"https://doi.org/10.3390/s19071539","title":"Multi-Cue-Based Circle Detection and Its Application to Robust Extrinsic Calibration of RGB-D Cameras","display_name":"Multi-Cue-Based Circle Detection and Its Application to Robust Extrinsic Calibration of RGB-D Cameras","publication_year":2019,"publication_date":"2019-03-29","ids":{"openalex":"https://openalex.org/W2928723478","doi":"https://doi.org/10.3390/s19071539","mag":"2928723478","pmid":"https://pubmed.ncbi.nlm.nih.gov/30934950"},"language":"en","primary_location":{"id":"doi:10.3390/s19071539","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071539","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1539/pdf?version=1554287105","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/1424-8220/19/7/1539/pdf?version=1554287105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017115413","display_name":"Young Chan Kwon","orcid":"https://orcid.org/0000-0003-0619-2317"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young Chan Kwon","raw_affiliation_strings":["Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. yckwon@inu.ac.kr"],"raw_orcid":"https://orcid.org/0000-0003-0619-2317","affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","institution_ids":["https://openalex.org/I146429904"]},{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. yckwon@inu.ac.kr","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101574195","display_name":"Jae Won Jang","orcid":"https://orcid.org/0009-0005-4482-2545"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Won Jang","raw_affiliation_strings":["Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. jjwopal@inu.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","institution_ids":["https://openalex.org/I146429904"]},{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. jjwopal@inu.ac.kr","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060901163","display_name":"Youngbae Hwang","orcid":"https://orcid.org/0000-0002-3400-0493"},"institutions":[{"id":"https://openalex.org/I4210131650","display_name":"Korea Electronics Technology Institute","ror":"https://ror.org/039k6f508","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210089395","https://openalex.org/I4210131650"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngbae Hwang","raw_affiliation_strings":["Intelligent Image Processing Research Center, Korea Electronics Technology Institute, Gyeonggi-do 13488, Korea","Intelligent Image Processing Research Center, Korea Electronics Technology Institute, Gyeonggi-do 13488, Korea. ybhwang@keti.re.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Image Processing Research Center, Korea Electronics Technology Institute, Gyeonggi-do 13488, Korea","institution_ids":["https://openalex.org/I4210131650"]},{"raw_affiliation_string":"Intelligent Image Processing Research Center, Korea Electronics Technology Institute, Gyeonggi-do 13488, Korea. ybhwang@keti.re.kr","institution_ids":["https://openalex.org/I4210131650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018353908","display_name":"Ouk Choi","orcid":"https://orcid.org/0000-0001-9860-9145"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ouk Choi","raw_affiliation_strings":["Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. ouk.choi@inu.ac.kr"],"raw_orcid":"https://orcid.org/0000-0001-9860-9145","affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea","institution_ids":["https://openalex.org/I146429904"]},{"raw_affiliation_string":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea. ouk.choi@inu.ac.kr","institution_ids":["https://openalex.org/I146429904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018353908"],"corresponding_institution_ids":["https://openalex.org/I146429904"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.9075,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.74909411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"19","issue":"7","first_page":"1539","last_page":"1539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9998999834060669,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9998000264167786,"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":0.9995999932289124,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8402329087257385},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8209328651428223},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7649555802345276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6835219860076904},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6443756818771362},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5429799556732178},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.45351237058639526},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41786712408065796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27294087409973145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1808224618434906}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8402329087257385},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8209328651428223},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7649555802345276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6835219860076904},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6443756818771362},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5429799556732178},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.45351237058639526},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41786712408065796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27294087409973145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1808224618434906},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19071539","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071539","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1539/pdf?version=1554287105","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:30934950","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30934950","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:pubmedcentral.nih.gov:6480024","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6480024","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:7a5fbef6bbfa47da89b5f6bbd985b03f","is_oa":true,"landing_page_url":"https://doaj.org/article/7a5fbef6bbfa47da89b5f6bbd985b03f","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 19, Iss 7, p 1539 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/7/1539/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19071539","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19071539","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071539","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1539/pdf?version=1554287105","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":[{"id":"https://openalex.org/G5190463279","display_name":null,"funder_award_id":"GK18P0200","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320321363","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W21877","https://openalex.org/W22745672","https://openalex.org/W1984241286","https://openalex.org/W1988544952","https://openalex.org/W1989079382","https://openalex.org/W1999371739","https://openalex.org/W2004597179","https://openalex.org/W2023633446","https://openalex.org/W2033819227","https://openalex.org/W2041094000","https://openalex.org/W2046434485","https://openalex.org/W2046496533","https://openalex.org/W2060275078","https://openalex.org/W2069479606","https://openalex.org/W2075773877","https://openalex.org/W2085261163","https://openalex.org/W2087070363","https://openalex.org/W2094854638","https://openalex.org/W2095569354","https://openalex.org/W2124319230","https://openalex.org/W2136181517","https://openalex.org/W2137504719","https://openalex.org/W2143536583","https://openalex.org/W2145023731","https://openalex.org/W2147240366","https://openalex.org/W2149431106","https://openalex.org/W2158853930","https://openalex.org/W2162510086","https://openalex.org/W2167667767","https://openalex.org/W2172156083","https://openalex.org/W2256578114","https://openalex.org/W2270435344","https://openalex.org/W2505066767","https://openalex.org/W2582728348","https://openalex.org/W2605269812","https://openalex.org/W2744117959","https://openalex.org/W2784266992","https://openalex.org/W2904901787","https://openalex.org/W3103193805","https://openalex.org/W4210678508","https://openalex.org/W6644126650","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2510582230","https://openalex.org/W1508899372","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305","https://openalex.org/W1977636359","https://openalex.org/W2772305933"],"abstract_inverted_index":{"RGB-Depth":[0],"(RGB-D)":[1],"cameras":[2,41],"are":[3,42],"widely":[4],"used":[5,64],"in":[6,92,161],"computer":[7],"vision":[8],"and":[9,16,166],"robotics":[10],"applications":[11],"such":[12],"as":[13],"3D":[14,21],"modeling":[15],"human\u207bcomputer":[17],"interaction.":[18],"To":[19,37],"capture":[20],"information":[22],"of":[23,54,68,76,128,164],"an":[24],"object":[25,79],"from":[26,57],"different":[27,58,115],"viewpoints":[28],"simultaneously,":[29],"we":[30,134,151],"need":[31],"to":[32,51,125,136,141,145],"use":[33,137],"multiple":[34,129],"RGB-D":[35,130],"cameras.":[36,70],"minimize":[38],"costs,":[39],"the":[40,52,73,77,154,162],"often":[43],"sparsely":[44],"distributed":[45],"without":[46],"shared":[47],"scene":[48],"features.":[49],"Due":[50],"advantage":[53],"being":[55],"visible":[56],"viewpoints,":[59],"spherical":[60,78,109],"objects":[61,110],"have":[62],"been":[63],"for":[65,88,132],"extrinsic":[66,126],"calibration":[67,127,159],"widely-separated":[69],"Assuming":[71],"that":[72,103,153],"projected":[74],"shape":[75],"is":[80,122],"circular,":[81],"this":[82],"paper":[83],"presents":[84],"a":[85,93,170],"multi-cue-based":[86],"method":[87,106,121,156],"detecting":[89],"circular":[90],"regions":[91],"single":[94],"color":[95],"image.":[96],"Experimental":[97],"comparisons":[98],"with":[99,111],"existing":[100],"methods":[101],"show":[102,152],"our":[104],"proposed":[105,155],"accurately":[107],"detects":[108],"cluttered":[112],"backgrounds":[113],"under":[114],"illumination":[116],"conditions.":[117],"The":[118],"circle":[119],"detection":[120],"then":[123],"applied":[124],"cameras,":[131],"which":[133],"propose":[135],"robust":[138],"cost":[139],"functions":[140],"reduce":[142],"errors":[143],"due":[144],"misdetected":[146],"sphere":[147],"centers.":[148],"Through":[149],"experiments,":[150],"provides":[157],"accurate":[158],"results":[160],"presence":[163],"outliers":[165],"performs":[167],"better":[168],"than":[169],"least-squares-based":[171],"method.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}