{"id":"https://openalex.org/W2958300501","doi":"https://doi.org/10.3390/s19143086","title":"Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface","display_name":"Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface","publication_year":2019,"publication_date":"2019-07-12","ids":{"openalex":"https://openalex.org/W2958300501","doi":"https://doi.org/10.3390/s19143086","mag":"2958300501","pmid":"https://pubmed.ncbi.nlm.nih.gov/31336949"},"language":"en","primary_location":{"id":"doi:10.3390/s19143086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143086","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3086/pdf?version=1563268875","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/1424-8220/19/14/3086/pdf?version=1563268875","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014125814","display_name":"Chenguang Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Ouyang","raw_affiliation_strings":["State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055699892","display_name":"Shuai Shi","orcid":"https://orcid.org/0000-0002-8865-0192"},"institutions":[{"id":"https://openalex.org/I4210163738","display_name":"China Astronaut Research and Training Center","ror":"https://ror.org/001ycj259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210163738"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuai Shi","raw_affiliation_strings":["Astronaut Center of China, Beijing 100094, China","State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Astronaut Center of China, Beijing 100094, China","institution_ids":["https://openalex.org/I4210163738"]},{"raw_affiliation_string":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041300353","display_name":"Zheng You","orcid":"https://orcid.org/0000-0002-3941-1371"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheng You","raw_affiliation_strings":["State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101425199","display_name":"Kaichun Zhao","orcid":"https://orcid.org/0000-0002-1714-0582"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaichun Zhao","raw_affiliation_strings":["State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041300353","https://openalex.org/A5055699892"],"corresponding_institution_ids":["https://openalex.org/I4210163738","https://openalex.org/I99065089"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":7.7967,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97335591,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"19","issue":"14","first_page":"3086","last_page":"3086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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":0.9984999895095825,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8850225210189819},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7230490446090698},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6679390072822571},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.6054756045341492},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5594846606254578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5486713647842407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5316981077194214},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.468406617641449},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4190084636211395},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3583844304084778},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24284157156944275}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8850225210189819},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7230490446090698},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6679390072822571},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.6054756045341492},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5594846606254578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5486713647842407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5316981077194214},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.468406617641449},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4190084636211395},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3583844304084778},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24284157156944275},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19143086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143086","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3086/pdf?version=1563268875","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:31336949","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31336949","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:europepmc.org:5649243","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6679094","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:doaj.org/article:71bea333263d4719851f56c9bb429831","is_oa":true,"landing_page_url":"https://doaj.org/article/71bea333263d4719851f56c9bb429831","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 14, p 3086 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/14/3086/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19143086","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/s19143086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143086","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3086/pdf?version=1563268875","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":[{"id":"https://metadata.un.org/sdg/7","score":0.5699999928474426,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"},{"id":"https://openalex.org/F4320326931","display_name":"State Key Laboratory of Precision Measurement Technology and Instruments","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2958300501.pdf","grobid_xml":"https://content.openalex.org/works/W2958300501.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W190554105","https://openalex.org/W304378500","https://openalex.org/W1482792842","https://openalex.org/W1953042028","https://openalex.org/W1990124658","https://openalex.org/W1990398405","https://openalex.org/W2033819227","https://openalex.org/W2035179658","https://openalex.org/W2046298615","https://openalex.org/W2055672076","https://openalex.org/W2076700149","https://openalex.org/W2088909704","https://openalex.org/W2110794641","https://openalex.org/W2111535872","https://openalex.org/W2114345307","https://openalex.org/W2128531862","https://openalex.org/W2138966546","https://openalex.org/W2145938889","https://openalex.org/W2165528908","https://openalex.org/W2166096462","https://openalex.org/W2167667767","https://openalex.org/W2168970060","https://openalex.org/W2311075199","https://openalex.org/W2342437324","https://openalex.org/W2426151263","https://openalex.org/W2600710899","https://openalex.org/W2754177129","https://openalex.org/W2766770032","https://openalex.org/W2895016523","https://openalex.org/W2938697167","https://openalex.org/W2943079637","https://openalex.org/W3003915866","https://openalex.org/W3100207102","https://openalex.org/W3142851046","https://openalex.org/W4256561032","https://openalex.org/W6610727723","https://openalex.org/W6684331965"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W4384079371","https://openalex.org/W3204814100","https://openalex.org/W2382856674","https://openalex.org/W3134796799","https://openalex.org/W4400817159","https://openalex.org/W3018283005","https://openalex.org/W2804077400","https://openalex.org/W1972158751","https://openalex.org/W2099345611"],"abstract_inverted_index":{"For":[0],"a":[1,11,23,66],"visual/inertial":[2],"integrated":[3],"system,":[4],"the":[5,33,37,54,62,69,76,80,91,95,99,104,110,114,121,124,132,137],"calibration":[6,27,133],"of":[7,79,94,102,108,126,131],"extrinsic":[8,25,77,92,138],"parameters":[9,78,93],"plays":[10],"crucial":[12],"role":[13],"in":[14,36,113],"ensuring":[15],"accurate":[16],"navigation":[17],"and":[18,40,48,85,106,118,147],"measurement.":[19],"In":[20],"this":[21],"work,":[22],"novel":[24],"parameter":[26,139],"method":[28],"is":[29,41,59],"developed":[30],"based":[31],"on":[32],"geometrical":[34],"constraints":[35,73,88],"object":[38],"space":[39],"implemented":[42],"by":[43,61],"manual":[44],"swing.":[45],"The":[46,129],"camera":[47,105],"IMU":[49,127],"frames":[50],"are":[51],"aligned":[52],"to":[53],"system":[55],"body":[56],"frame,":[57],"which":[58,109],"predefined":[60],"mechanical":[63],"interface.":[64],"With":[65],"swinging":[67],"motion,":[68],"fixed":[70],"checkerboard":[71,115],"provides":[72,87],"for":[74,89,143,150],"calibrating":[75,90],"camera,":[81],"whereas":[82],"angular":[83],"velocity":[84],"acceleration":[86],"IMU.":[96],"We":[97],"exploit":[98],"complementary":[100],"nature":[101],"both":[103],"IMU,":[107],"latter":[111],"assists":[112],"corner":[116],"detection":[117],"correction":[119],"while":[120],"former":[122],"suppresses":[123],"effects":[125],"drift.":[128],"results":[130],"experiment":[134],"reveal":[135],"that":[136],"accuracy":[140],"reaches":[141],"0.04\u00b0":[142],"each":[144,151],"Euler":[145],"angle":[146],"0.15":[148],"mm":[149],"position":[152],"vector":[153],"component":[154],"(1\u03c3).":[155]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}