{"id":"https://openalex.org/W2160051261","doi":"https://doi.org/10.1109/tip.2005.864167","title":"Robust ego-motion estimation and 3-D model refinement using surface parallax","display_name":"Robust ego-motion estimation and 3-D model refinement using surface parallax","publication_year":2006,"publication_date":"2006-04-22","ids":{"openalex":"https://openalex.org/W2160051261","doi":"https://doi.org/10.1109/tip.2005.864167","mag":"2160051261","pmid":"https://pubmed.ncbi.nlm.nih.gov/16671302"},"language":"en","primary_location":{"id":"doi:10.1109/tip.2005.864167","doi":"https://doi.org/10.1109/tip.2005.864167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2005.864167","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","ccf-a","cwts-core","dongbi-a","doyens","jufo-3","ki-jl-2","medline","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Image Processing","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"A. Agrawal","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Agrawal","raw_affiliation_strings":["Center for Automation Research, University of Maryland, College Park, MD 20742, USA. aagrawal@cfar.umd.edu","Center for Autom. Res., Univ. of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Automation Research, University of Maryland, College Park, MD 20742, USA. aagrawal@cfar.umd.edu","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Center for Autom. Res., Univ. of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102762707","display_name":"Rama Chellappa","orcid":"https://orcid.org/0000-0002-7638-1650","observed_orcids":["https://orcid.org/0000-0002-7638-1650"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Chellappa","raw_affiliation_strings":["Center for Automation Research, University of Maryland, College Park, MD, USA","Center for Autom. Res., Univ. of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Center for Autom. Res., Univ. of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.7114,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.79173539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":"5","first_page":"1215","last_page":"1225"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9707000255584717,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9707000255584717,"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":0.025499999523162842,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/camera-motion-estimation","display_name":"camera motion estimation","score":0.9980000257492065},{"id":"https://openalex.org/keywords/depth-map-refinement","display_name":"depth map refinement","score":0.9639999866485596},{"id":"https://openalex.org/keywords/confidence-measures","display_name":"confidence measures","score":0.503000020980835},{"id":"https://openalex.org/keywords/stereo-pairs","display_name":"stereo pairs","score":0.45899999141693115},{"id":"https://openalex.org/keywords/digital-elevation-maps","display_name":"digital elevation maps","score":0.6309999823570251}],"concepts":[{"id":"https://openalex.org/C15759828","wikidata":"https://www.wikidata.org/wiki/Q165074","display_name":"Parallax","level":2,"score":0.8888018727302551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6835618019104004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6286801695823669},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5110967755317688},{"id":"https://openalex.org/C124774092","wikidata":"https://www.wikidata.org/wiki/Q6917782","display_name":"Motion field","level":3,"score":0.4705788493156433},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.4515119194984436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4429120421409607},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4404144883155823},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.42850032448768616},{"id":"https://openalex.org/C183072630","wikidata":"https://www.wikidata.org/wiki/Q215932","display_name":"Depth of field","level":2,"score":0.413750559091568},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12842369079589844}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007089","descriptor_name":"Image Enhancement","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D007090","descriptor_name":"Image Interpretation, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D013382","descriptor_name":"Subtraction Technique","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016247","descriptor_name":"Information Storage and Retrieval","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/tip.2005.864167","doi":"https://doi.org/10.1109/tip.2005.864167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2005.864167","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","ccf-a","cwts-core","dongbi-a","doyens","jufo-3","ki-jl-2","medline","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Image Processing","raw_type":"journal-article"},{"id":"pmid:16671302","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/16671302","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,"listed_in":[],"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":"IEEE transactions on image processing : a publication of the IEEE Signal Processing Society","raw_type":"Evaluation Study"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.77.3017","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.77.3017","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cfar.umd.edu/~aagrawal/tip.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1509918867","https://openalex.org/W1530923078","https://openalex.org/W1538265627","https://openalex.org/W1549739843","https://openalex.org/W1598123022","https://openalex.org/W1607409212","https://openalex.org/W1938714998","https://openalex.org/W1975048980","https://openalex.org/W1982853930","https://openalex.org/W1991972785","https://openalex.org/W2001341465","https://openalex.org/W2010942916","https://openalex.org/W2030255580","https://openalex.org/W2038897731","https://openalex.org/W2040778740","https://openalex.org/W2043003144","https://openalex.org/W2096605909","https://openalex.org/W2100877732","https://openalex.org/W2106255741","https://openalex.org/W2111273987","https://openalex.org/W2119296827","https://openalex.org/W2121954358","https://openalex.org/W2126545287","https://openalex.org/W2129606894","https://openalex.org/W2137658800","https://openalex.org/W2138835141","https://openalex.org/W2139695834","https://openalex.org/W2143191604","https://openalex.org/W2144573889","https://openalex.org/W2146205914","https://openalex.org/W2148070416","https://openalex.org/W2149773317","https://openalex.org/W2153563330","https://openalex.org/W2153624898","https://openalex.org/W2159739271","https://openalex.org/W2162452184","https://openalex.org/W2179278902","https://openalex.org/W2540932522","https://openalex.org/W3108793894","https://openalex.org/W3215644061","https://openalex.org/W4206428854","https://openalex.org/W7073847246"],"related_works":["https://openalex.org/W1480060243","https://openalex.org/W7098689205","https://openalex.org/W2062843605","https://openalex.org/W2102703654","https://openalex.org/W2126545287","https://openalex.org/W2065946851","https://openalex.org/W2068649107","https://openalex.org/W2116389605","https://openalex.org/W2154141655","https://openalex.org/W2149773317"],"abstract_inverted_index":{"We":[0,81,150],"present":[1],"an":[2,28,92],"iterative":[3],"algorithm":[4],"for":[5,154,174],"robustly":[6,175],"estimating":[7,176],"the":[8,64,69,75,83,86,100,112,142,146,156,159,195,198],"ego-motion":[9,48,55,177],"and":[10,12,23,57,68,95,107,133,186,191],"refining":[11],"updating":[13],"a":[14,32,38,43,53,58,122,129,134],"coarse":[15,33],"depth":[16,34,71,113,135,148,161,172],"map":[17,35,46,114],"using":[18,121,145,183],"parametric":[19],"surface":[20,88],"parallax":[21,89,117,124,131,137,143],"models":[22,141],"brightness":[24,60],"derivatives":[25],"extracted":[26,41],"from":[27,42,99],"image":[29],"pair.":[30],"Given":[31],"acquired":[36],"by":[37,51],"range-finder":[39],"or":[40],"digital":[44],"elevation":[45],"(DEM),":[47],"is":[49,79,91,119],"estimated":[50,65,120,160],"combining":[52],"global":[54],"constraint":[56],"local":[59],"constancy":[61],"constraint.":[62],"Using":[63],"camera":[66],"motion":[67,73,102],"available":[70],"estimate,":[72],"of":[74,158,197],"three-dimensional":[76],"(3-D)":[77],"points":[78],"compensated.":[80],"utilize":[82],"fact":[84],"that":[85],"resulting":[87],"field":[90,132],"epipolar":[93],"field,":[94],"knowing":[96],"its":[97,105],"direction":[98],"previous":[101],"estimates,":[103],"estimate":[104],"magnitude":[106,118,144],"use":[108],"it":[109],"to":[110,166],"refine":[111],"estimate.":[115],"The":[116],"constant":[123],"model":[125,138],"(CPM)":[126],"which":[127,140,163],"assumes":[128],"smooth":[130],"based":[136],"(DBPM),":[139],"given":[147],"map.":[149],"obtain":[151],"confidence":[152],"measures":[153],"determining":[155],"accuracy":[157],"values":[162],"are":[164],"used":[165],"remove":[167],"regions":[168],"with":[169],"potentially":[170],"incorrect":[171],"estimates":[173],"in":[178],"subsequent":[179],"iterations.":[180],"Experimental":[181],"results":[182],"both":[184],"synthetic":[185],"real":[187],"data":[188],"(both":[189],"indoor":[190],"outdoor":[192],"sequences)":[193],"illustrate":[194],"effectiveness":[196],"proposed":[199],"algorithm.":[200]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}