{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,29]],"date-time":"2026-01-29T05:35:58Z","timestamp":1769664958347,"version":"3.49.0"},"reference-count":46,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2019,3,29]],"date-time":"2019-03-29T00:00:00Z","timestamp":1553817600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002628","name":"Incheon National University","doi-asserted-by":"publisher","award":["2016"],"award-info":[{"award-number":["2016"]}],"id":[{"id":"10.13039\/501100002628","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Korea government(MSIT)","award":["GK18P0200"],"award-info":[{"award-number":["GK18P0200"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>RGB-Depth (RGB-D) cameras are widely used in computer vision and robotics applications such as 3D modeling and human\u2013computer interaction. To capture 3D information of an object from different viewpoints simultaneously, we need to use multiple RGB-D cameras. To minimize costs, the cameras are often sparsely distributed without shared scene features. Due to the advantage of being visible from different viewpoints, spherical objects have been used for extrinsic calibration of widely-separated cameras. Assuming that the projected shape of the spherical object is circular, this paper presents a multi-cue-based method for detecting circular regions in a single color image. Experimental comparisons with existing methods show that our proposed method accurately detects spherical objects with cluttered backgrounds under different illumination conditions. The circle detection method is then applied to extrinsic calibration of multiple RGB-D cameras, for which we propose to use robust cost functions to reduce errors due to misdetected sphere centers. Through experiments, we show that the proposed method provides accurate calibration results in the presence of outliers and performs better than a least-squares-based method.<\/jats:p>","DOI":"10.3390\/s19071539","type":"journal-article","created":{"date-parts":[[2019,3,29]],"date-time":"2019-03-29T13:09:58Z","timestamp":1553864998000},"page":"1539","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Multi-Cue-Based Circle Detection and Its Application to Robust Extrinsic Calibration of RGB-D Cameras"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0619-2317","authenticated-orcid":false,"given":"Young Chan","family":"Kwon","sequence":"first","affiliation":[{"name":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jae Won","family":"Jang","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youngbae","family":"Hwang","sequence":"additional","affiliation":[{"name":"Intelligent Image Processing Research Center, Korea Electronics Technology Institute, Gyeonggi-do 13488, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9860-9145","authenticated-orcid":false,"given":"Ouk","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Incheon National University, Incheon 22012, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Shotton, J., Fitzgibbon, A., Cook, M., Sharp, T., Finocchio, M., Moore, R., Kipman, A., and Blake, A. 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