{"id":"https://openalex.org/W7162995197","doi":"https://doi.org/10.48550/arxiv.2605.31576","title":"Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinement","display_name":"Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinement","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7162995197","doi":"https://doi.org/10.48550/arxiv.2605.31576"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.31576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.31576","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006184092","display_name":"Aziz Al-Najjar","orcid":"https://orcid.org/0009-0007-6955-692X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Al-Najjar, Aziz","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029996071","display_name":"Marzieh Amini","orcid":"https://orcid.org/0000-0002-5217-2969"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amini, Marzieh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137550959","display_name":"James R. Green","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Green, James R.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5038274566","display_name":"Felix Kwamena","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kwamena, Felix","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8841999769210815,"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":0.8841999769210815,"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":0.057500001043081284,"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":0.01860000006854534,"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/initialization","display_name":"Initialization","score":0.8661999702453613},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.839900016784668},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7031999826431274},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6079999804496765},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5928999781608582},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.519599974155426},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.49939998984336853}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8661999702453613},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.839900016784668},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7031999826431274},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6079999804496765},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5928999781608582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5473999977111816},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.519599974155426},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5159000158309937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.51419997215271},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.49939998984336853},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.46389999985694885},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.45159998536109924},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.42649999260902405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38499999046325684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36959999799728394},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3052000105381012},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.2605000138282776}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.31576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.31576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Most":[0],"learning-based":[1],"camera-LiDAR":[2,7],"calibration":[3,43],"methods":[4],"treat":[5],"each":[6,58],"pair":[8],"independently,":[9],"ignoring":[10],"the":[11,30,118,142],"rigid":[12],"geometric":[13,50],"coupling":[14,147],"in":[15],"multi-camera":[16,40,97,146],"platforms.":[17],"As":[18],"a":[19,35,76,94],"result,":[20],"per-camera":[21,82,111],"estimates":[22,64],"may":[23],"be":[24],"individually":[25],"accurate":[26],"yet":[27],"inconsistent":[28],"at":[29],"system":[31],"level.":[32],"We":[33],"present":[34],"two-stage":[36],"framework":[37],"for":[38,103],"joint":[39],"LiDAR":[41],"extrinsic":[42,63],"that":[44],"combines":[45],"learned":[46],"pairwise":[47,91],"matching":[48],"with":[49,80],"refinement.":[51],"First,":[52],"CMRNext":[53],"is":[54],"applied":[55],"independently":[56],"to":[57,60,138],"camera":[59],"produce":[61],"initial":[62],"and":[65,84,105,113,125],"dense":[66],"2D-3D":[67],"correspondences.":[68],"These":[69],"predictions":[70,92,150],"are":[71,151],"then":[72],"jointly":[73],"refined":[74],"through":[75],"multi-frame":[77],"bundle":[78],"adjustment":[79],"reprojection,":[81],"prior,":[83],"relative-pose":[85],"prior":[86],"terms.":[87],"This":[88],"approach":[89],"converts":[90],"into":[93],"globally":[95],"consistent":[96],"calibration.":[98],"Experiments":[99],"on":[100],"KITTI":[101],"(in-domain":[102],"CMRNext)":[104],"Walkley":[106],"(out-of-domain)":[107],"datasets":[108],"show":[109],"improved":[110],"accuracy":[112],"inter-camera":[114],"consistency.":[115],"On":[116,129],"KITTI,":[117],"method":[119],"achieves":[120],"0.89":[121],"cm":[122,137],"translation":[123,133],"error":[124,134],"0.038":[126],"rotation":[127],"error.":[128],"Walkley,":[130],"it":[131],"reduces":[132],"from":[135],"108.6":[136],"3.1":[139],"cm,":[140],"highlighting":[141],"benefit":[143],"of":[144],"explicit":[145],"when":[148],"single-camera":[149],"less":[152],"reliable.":[153]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-02T00:00:00"}