Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion Article Swipe

PDF

Ni Ou , Zhuo Chen , Xinru Zhang , Junzheng Wang ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2506.14706

Cameras and LiDAR are essential sensors for autonomous vehicles. The fusion of camera and LiDAR data addresses the limitations of individual sensors but relies on precise extrinsic calibration. Recently, numerous end-to-end calibration methods have been proposed; however, most predict extrinsic parameters in a single step and lack iterative optimization capabilities. To address the increasing demand for higher accuracy, we propose a versatile iterative framework based on surrogate diffusion. This framework can enhance the performance of any calibration method without requiring architectural modifications. Specifically, the initial extrinsic parameters undergo iterative refinement through a denoising process, in which the original calibration method serves as a surrogate denoiser to estimate the final extrinsics at each step. For comparative analysis, we selected four state-of-the-art calibration methods as surrogate denoisers and compared the results of our diffusion process with those of two other iterative approaches. Extensive experiments demonstrate that when integrated with our diffusion model, all calibration methods achieve higher accuracy, improved robustness, and greater stability compared to other iterative techniques and their single-step counterparts.

Related Topics

Concepts

No concepts available.

Metadata

Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2506.14706
PDF: https://arxiv.org/pdf/2506.14706
OA Status: green
OpenAlex ID: https://openalex.org/W4415343232

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W4415343232

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.48550/arxiv.2506.14706

Digital Object Identifier
Title: Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2025

Year of publication
Publication date: 2025-06-17

Full publication date if available
Authors: Ni Ou, Zhuo Chen, Xinru Zhang, Junzheng Wang

List of authors in order
Landing page: https://arxiv.org/abs/2506.14706

Publisher landing page
PDF URL: https://arxiv.org/pdf/2506.14706

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2506.14706

Direct OA link when available
Cited by: 0

Total citation count in OpenAlex

Full payload

id	https://openalex.org/W4415343232
doi	https://doi.org/10.48550/arxiv.2506.14706
ids.doi	https://doi.org/10.48550/arxiv.2506.14706
ids.openalex	https://openalex.org/W4415343232
fwci
type	preprint
title	Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion
biblio.issue
biblio.volume
biblio.last_page
biblio.first_page
topics[0].id	https://openalex.org/T10531
topics[0].field.id	https://openalex.org/fields/17
topics[0].field.display_name	Computer Science
topics[0].score	0.9951000213623047
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/1707
topics[0].subfield.display_name	Computer Vision and Pattern Recognition
topics[0].display_name	Advanced Vision and Imaging
topics[1].id	https://openalex.org/T12111
topics[1].field.id	https://openalex.org/fields/22
topics[1].field.display_name	Engineering
topics[1].score	0.9904999732971191
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/2209
topics[1].subfield.display_name	Industrial and Manufacturing Engineering
topics[1].display_name	Industrial Vision Systems and Defect Detection
topics[2].id	https://openalex.org/T12389
topics[2].field.id	https://openalex.org/fields/22
topics[2].field.display_name	Engineering
topics[2].score	0.9876000285148621
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/2202
topics[2].subfield.display_name	Aerospace Engineering
topics[2].display_name	Infrared Target Detection Methodologies
is_xpac	False
apc_list
apc_paid
language	en
locations[0].id	pmh:oai:arXiv.org:2506.14706
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4306400194
locations[0].source.issn
locations[0].source.type	repository
locations[0].source.is_oa	True
locations[0].source.issn_l
locations[0].source.is_core	False
locations[0].source.is_in_doaj	False
locations[0].source.display_name	arXiv (Cornell University)
locations[0].source.host_organization	https://openalex.org/I205783295
locations[0].source.host_organization_name	Cornell University
locations[0].source.host_organization_lineage	https://openalex.org/I205783295
locations[0].license
locations[0].pdf_url	https://arxiv.org/pdf/2506.14706
locations[0].version	submittedVersion
locations[0].raw_type	text
locations[0].license_id
locations[0].is_accepted	False
locations[0].is_published	False
locations[0].raw_source_name
locations[0].landing_page_url	http://arxiv.org/abs/2506.14706
locations[1].id	doi:10.48550/arxiv.2506.14706
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url
locations[1].version
locations[1].raw_type	article
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published
locations[1].raw_source_name
locations[1].landing_page_url	https://doi.org/10.48550/arxiv.2506.14706
indexed_in	arxiv, datacite
authorships[0].author.id	https://openalex.org/A5053216749
authorships[0].author.orcid	https://orcid.org/0000-0002-2643-8989
authorships[0].author.display_name	Ni Ou
authorships[0].author_position	first
authorships[0].raw_author_name	Ou, Ni
authorships[0].is_corresponding	False
authorships[1].author.id	https://openalex.org/A5119128853
authorships[1].author.orcid	https://orcid.org/0000-0001-6828-8213
authorships[1].author.display_name	Zhuo Chen
authorships[1].author_position	middle
authorships[1].raw_author_name	Chen, Zhuo
authorships[1].is_corresponding	False
authorships[2].author.id	https://openalex.org/A5047778661
authorships[2].author.orcid	https://orcid.org/0000-0002-8278-4624
authorships[2].author.display_name	Xinru Zhang
authorships[2].author_position	middle
authorships[2].raw_author_name	Zhang, Xinru
authorships[2].is_corresponding	False
authorships[3].author.id	https://openalex.org/A5100697058
authorships[3].author.orcid	https://orcid.org/0000-0002-7351-2643
authorships[3].author.display_name	Junzheng Wang
authorships[3].author_position	last
authorships[3].raw_author_name	Wang, Junzheng
authorships[3].is_corresponding	False
has_content.pdf	True
has_content.grobid_xml	True
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2506.14706
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-20T00:00:00
display_name	Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion
has_fulltext	True
is_retracted	False
updated_date	2025-11-06T06:51:31.235846
primary_topic.id	https://openalex.org/T10531
primary_topic.field.id	https://openalex.org/fields/17
primary_topic.field.display_name	Computer Science
primary_topic.score	0.9951000213623047
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/1707
primary_topic.subfield.display_name	Computer Vision and Pattern Recognition
primary_topic.display_name	Advanced Vision and Imaging
cited_by_count	0
locations_count	2
best_oa_location.id	pmh:oai:arXiv.org:2506.14706
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2506.14706
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2506.14706
primary_location.id	pmh:oai:arXiv.org:2506.14706
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4306400194
primary_location.source.issn
primary_location.source.type	repository
primary_location.source.is_oa	True
primary_location.source.issn_l
primary_location.source.is_core	False
primary_location.source.is_in_doaj	False
primary_location.source.display_name	arXiv (Cornell University)
primary_location.source.host_organization	https://openalex.org/I205783295
primary_location.source.host_organization_name	Cornell University
primary_location.source.host_organization_lineage	https://openalex.org/I205783295
primary_location.license
primary_location.pdf_url	https://arxiv.org/pdf/2506.14706
primary_location.version	submittedVersion
primary_location.raw_type	text
primary_location.license_id
primary_location.is_accepted	False
primary_location.is_published	False
primary_location.raw_source_name
primary_location.landing_page_url	http://arxiv.org/abs/2506.14706
publication_date	2025-06-17
publication_year	2025
referenced_works_count	0
abstract_inverted_index.a	42, 60, 91, 102
abstract_inverted_index.To	50
abstract_inverted_index.as	101, 122
abstract_inverted_index.at	110
abstract_inverted_index.in	41, 94
abstract_inverted_index.of	11, 19, 74, 129, 135
abstract_inverted_index.on	24, 65
abstract_inverted_index.to	105, 162
abstract_inverted_index.we	58, 116
abstract_inverted_index.For	113
abstract_inverted_index.The	9
abstract_inverted_index.all	150
abstract_inverted_index.and	1, 13, 45, 125, 158, 166
abstract_inverted_index.any	75
abstract_inverted_index.are	3
abstract_inverted_index.but	22
abstract_inverted_index.can	70
abstract_inverted_index.for	6, 55
abstract_inverted_index.our	130, 147
abstract_inverted_index.the	17, 52, 72, 83, 96, 107, 127
abstract_inverted_index.two	136
abstract_inverted_index.This	68
abstract_inverted_index.been	34
abstract_inverted_index.data	15
abstract_inverted_index.each	111
abstract_inverted_index.four	118
abstract_inverted_index.have	33
abstract_inverted_index.lack	46
abstract_inverted_index.most	37
abstract_inverted_index.step	44
abstract_inverted_index.that	143
abstract_inverted_index.when	144
abstract_inverted_index.with	133, 146
abstract_inverted_index.LiDAR	2, 14
abstract_inverted_index.based	64
abstract_inverted_index.final	108
abstract_inverted_index.other	137, 163
abstract_inverted_index.step.	112
abstract_inverted_index.their	167
abstract_inverted_index.those	134
abstract_inverted_index.which	95
abstract_inverted_index.camera	12
abstract_inverted_index.demand	54
abstract_inverted_index.fusion	10
abstract_inverted_index.higher	56, 154
abstract_inverted_index.method	77, 99
abstract_inverted_index.model,	149
abstract_inverted_index.relies	23
abstract_inverted_index.serves	100
abstract_inverted_index.single	43
abstract_inverted_index.Cameras	0
abstract_inverted_index.achieve	153
abstract_inverted_index.address	51
abstract_inverted_index.enhance	71
abstract_inverted_index.greater	159
abstract_inverted_index.initial	84
abstract_inverted_index.methods	32, 121, 152
abstract_inverted_index.precise	25
abstract_inverted_index.predict	38
abstract_inverted_index.process	132
abstract_inverted_index.propose	59
abstract_inverted_index.results	128
abstract_inverted_index.sensors	5, 21
abstract_inverted_index.through	90
abstract_inverted_index.undergo	87
abstract_inverted_index.without	78
abstract_inverted_index.compared	126, 161
abstract_inverted_index.denoiser	104
abstract_inverted_index.estimate	106
abstract_inverted_index.however,	36
abstract_inverted_index.improved	156
abstract_inverted_index.numerous	29
abstract_inverted_index.original	97
abstract_inverted_index.process,	93
abstract_inverted_index.selected	117
abstract_inverted_index.Extensive	140
abstract_inverted_index.Recently,	28
abstract_inverted_index.accuracy,	57, 155
abstract_inverted_index.addresses	16
abstract_inverted_index.analysis,	115
abstract_inverted_index.denoisers	124
abstract_inverted_index.denoising	92
abstract_inverted_index.diffusion	131, 148
abstract_inverted_index.essential	4
abstract_inverted_index.extrinsic	26, 39, 85
abstract_inverted_index.framework	63, 69
abstract_inverted_index.iterative	47, 62, 88, 138, 164
abstract_inverted_index.proposed;	35
abstract_inverted_index.requiring	79
abstract_inverted_index.stability	160
abstract_inverted_index.surrogate	66, 103, 123
abstract_inverted_index.vehicles.	8
abstract_inverted_index.versatile	61
abstract_inverted_index.autonomous	7
abstract_inverted_index.diffusion.	67
abstract_inverted_index.end-to-end	30
abstract_inverted_index.extrinsics	109
abstract_inverted_index.increasing	53
abstract_inverted_index.individual	20
abstract_inverted_index.integrated	145
abstract_inverted_index.parameters	40, 86
abstract_inverted_index.refinement	89
abstract_inverted_index.techniques	165
abstract_inverted_index.approaches.	139
abstract_inverted_index.calibration	31, 76, 98, 120, 151
abstract_inverted_index.comparative	114
abstract_inverted_index.demonstrate	142
abstract_inverted_index.experiments	141
abstract_inverted_index.limitations	18
abstract_inverted_index.performance	73
abstract_inverted_index.robustness,	157
abstract_inverted_index.single-step	168
abstract_inverted_index.calibration.	27
abstract_inverted_index.optimization	48
abstract_inverted_index.Specifically,	82
abstract_inverted_index.architectural	80
abstract_inverted_index.capabilities.	49
abstract_inverted_index.counterparts.	169
abstract_inverted_index.modifications.	81
abstract_inverted_index.state-of-the-art	119
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	4
citation_normalized_percentile