{"id":"https://openalex.org/W2252932460","doi":null,"title":"Vision based localization: from humanoid robots to visually impaired people","display_name":"Vision based localization: from humanoid robots to visually impaired people","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W2252932460","mag":"2252932460"},"language":"en","primary_location":{"id":"pmh:oai:dnet:ebuahbibliot::bd48718045c283057b4ea85ba44e5fa2","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/17071","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10017/17071","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911","observed_orcids":["https://orcid.org/0000-0001-7185-2911"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Pablo F. Alcantarilla","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-7185-2911","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5054810781"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":10,"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":0.37770000100135803,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.37770000100135803,"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":0.007600000128149986,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.006500000134110451,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-localization","display_name":"visual localization","score":0.9769999980926514},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.8960000276565552},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"stereo camera","score":0.5410000085830688},{"id":"https://openalex.org/keywords/3d-map-reconstruction","display_name":"3D map reconstruction","score":0.7400000095367432},{"id":"https://openalex.org/keywords/moving-object-detection","display_name":"moving object detection","score":0.6679999828338623},{"id":"https://openalex.org/keywords/scene-flow","display_name":"scene flow","score":0.8539999723434448},{"id":"https://openalex.org/keywords/visually-impaired-navigation","display_name":"visually impaired navigation","score":0.4569999873638153},{"id":"https://openalex.org/keywords/assistive-technology-for-the-blind","display_name":"assistive technology for the blind","score":0.652999997138977},{"id":"https://openalex.org/keywords/urban-environment","display_name":"urban environment","score":0.3580000102519989},{"id":"https://openalex.org/keywords/gps-limitations","display_name":"GPS limitations","score":0.36899998784065247},{"id":"https://openalex.org/keywords/dynamic-environments","display_name":"dynamic environments","score":0.3970000147819519},{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.4740000069141388},{"id":"https://openalex.org/keywords/real-time-localization","display_name":"real-time localization","score":0.5649999976158142},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"structure from motion","score":0.5329999923706055},{"id":"https://openalex.org/keywords/dense-3d-reconstruction","display_name":"dense 3D reconstruction","score":0.4480000138282776},{"id":"https://openalex.org/keywords/pedestrian-detection","display_name":"pedestrian detection","score":0.32499998807907104}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7342795729637146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6870836019515991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6608096361160278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6552963852882385},{"id":"https://openalex.org/C3020106864","wikidata":"https://www.wikidata.org/wiki/Q737460","display_name":"Visually impaired","level":2,"score":0.6072747707366943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5223302245140076},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5074037909507751},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4939725995063782},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4351796507835388},{"id":"https://openalex.org/C1517167","wikidata":"https://www.wikidata.org/wiki/Q1134322","display_name":"Sight","level":2,"score":0.4347110986709595},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36912453174591064},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2154621183872223},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08487808704376221},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"pmh:oai:dnet:ebuahbibliot::bd48718045c283057b4ea85ba44e5fa2","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/17071","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"pmh:oai:ebuah.uah.es:10017/17071","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/17071","pdf_url":null,"source":{"id":"https://openalex.org/S7407055200","display_name":"e_Buah","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"doctoral thesis"},{"id":"pmh:oai:www.tdx.cat:10017/17071","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/17071","pdf_url":"https://ebuah.uah.es/dspace/bitstream/10017/17071/1/Alcantarilla11PhD.pdf","source":{"id":"https://openalex.org/S4306401111","display_name":"Tesis Doctorals en Xarxa (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"mag:2252932460","doi":null,"is_oa":false,"landing_page_url":"https://dialnet.unirioja.es/servlet/tesis?codigo=100270","pdf_url":null,"source":{"id":"https://openalex.org/S4306401293","display_name":"Dialnet (Universidad de la Rioja)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I168974976","host_organization_name":"Universidad de La Rioja","host_organization_lineage":["https://openalex.org/I168974976"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:dnet:ebuahbibliot::bd48718045c283057b4ea85ba44e5fa2","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10017/17071","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2252932460.pdf","grobid_xml":"https://content.openalex.org/works/W2252932460.grobid-xml"},"referenced_works_count":139,"referenced_works":["https://openalex.org/W10195015","https://openalex.org/W14424882","https://openalex.org/W67459729","https://openalex.org/W78496981","https://openalex.org/W120566300","https://openalex.org/W169439271","https://openalex.org/W1484371059","https://openalex.org/W1491719799","https://openalex.org/W1495858509","https://openalex.org/W1501344851","https://openalex.org/W1524981236","https://openalex.org/W1528423721","https://openalex.org/W1540596182","https://openalex.org/W1546406479","https://openalex.org/W1578482962","https://openalex.org/W1595068977","https://openalex.org/W1608643120","https://openalex.org/W1620217772","https://openalex.org/W1625255723","https://openalex.org/W1663973292","https://openalex.org/W1677409904","https://openalex.org/W1680848026","https://openalex.org/W1689445748","https://openalex.org/W1755205674","https://openalex.org/W1801343231","https://openalex.org/W1874298837","https://openalex.org/W1897281438","https://openalex.org/W1912649600","https://openalex.org/W1924689489","https://openalex.org/W1964814179","https://openalex.org/W1967014021","https://openalex.org/W1969071914","https://openalex.org/W1972960823","https://openalex.org/W1984649930","https://openalex.org/W1996518131","https://openalex.org/W2005579414","https://openalex.org/W2006501475","https://openalex.org/W2008706659","https://openalex.org/W2022327575","https://openalex.org/W2022735534","https://openalex.org/W2024336175","https://openalex.org/W2028712136","https://openalex.org/W2031094277","https://openalex.org/W2031110608","https://openalex.org/W2033819227","https://openalex.org/W2044233231","https://openalex.org/W2047328415","https://openalex.org/W2057791985","https://openalex.org/W2059496137","https://openalex.org/W2065162099","https://openalex.org/W2065164181","https://openalex.org/W2066941820","https://openalex.org/W2082313107","https://openalex.org/W2085261163","https://openalex.org/W2087070363","https://openalex.org/W2089606459","https://openalex.org/W2089888558","https://openalex.org/W2091715895","https://openalex.org/W2096583235","https://openalex.org/W2097457395","https://openalex.org/W2101648351","https://openalex.org/W2104853049","https://openalex.org/W2104974755","https://openalex.org/W2106624428","https://openalex.org/W2109200236","https://openalex.org/W2109664698","https://openalex.org/W2111308925","https://openalex.org/W2112669647","https://openalex.org/W2112731915","https://openalex.org/W2114599745","https://openalex.org/W2115752152","https://openalex.org/W2116600804","https://openalex.org/W2118428504","https://openalex.org/W2118830119","https://openalex.org/W2118877769","https://openalex.org/W2119729467","https://openalex.org/W2121013842","https://openalex.org/W2122612384","https://openalex.org/W2124087378","https://openalex.org/W2124313187","https://openalex.org/W2124386111","https://openalex.org/W2127578024","https://openalex.org/W2127597232","https://openalex.org/W2128017662","https://openalex.org/W2129900221","https://openalex.org/W2131846894","https://openalex.org/W2133192850","https://openalex.org/W2133775549","https://openalex.org/W2134196520","https://openalex.org/W2134446283","https://openalex.org/W2135203562","https://openalex.org/W2137052305","https://openalex.org/W2137341062","https://openalex.org/W2139453094","https://openalex.org/W2139479830","https://openalex.org/W2142158949","https://openalex.org/W2143062563","https://openalex.org/W2143116602","https://openalex.org/W2143314433","https://openalex.org/W2146052399","https://openalex.org/W2146267561","https://openalex.org/W2146675187","https://openalex.org/W2149538904","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2151327674","https://openalex.org/W2152671441","https://openalex.org/W2153727510","https://openalex.org/W2154422044","https://openalex.org/W2155537009","https://openalex.org/W2156116778","https://openalex.org/W2156548949","https://openalex.org/W2156598602","https://openalex.org/W2161969291","https://openalex.org/W2162440713","https://openalex.org/W2162509261","https://openalex.org/W2162536300","https://openalex.org/W2163309052","https://openalex.org/W2163842790","https://openalex.org/W2166162370","https://openalex.org/W2166644671","https://openalex.org/W2167326590","https://openalex.org/W2168560624","https://openalex.org/W2168628149","https://openalex.org/W2168676389","https://openalex.org/W2170536761","https://openalex.org/W2171781905","https://openalex.org/W2172282005","https://openalex.org/W2177274842","https://openalex.org/W2296147781","https://openalex.org/W2319885746","https://openalex.org/W2493402089","https://openalex.org/W2523479060","https://openalex.org/W2536680313","https://openalex.org/W2546299398","https://openalex.org/W2733729340","https://openalex.org/W3089669417","https://openalex.org/W3097096317","https://openalex.org/W3173138228"],"related_works":["https://openalex.org/W2735638502","https://openalex.org/W2784469829","https://openalex.org/W2546519776","https://openalex.org/W2998931953","https://openalex.org/W4309460094","https://openalex.org/W2339981647","https://openalex.org/W54795838","https://openalex.org/W2888469204","https://openalex.org/W7099093879","https://openalex.org/W2234770519"],"abstract_inverted_index":{"Nowadays,":[0],"3D":[1,33,78,279,290,299,339,393,439,450,504,525,619,666,737,750,771],"applications":[2,610,621,792],"have":[3,540,601,692,728,779,901,916],"recently":[4],"become":[5],"a":[6,60,76,124,151,277,289,322,327,357,370,380,418,542,662,693,742,748,774,805,850],"more":[7,9,254],"and":[8,23,89,117,141,172,208,256,309,412,448,469,487,500,528,590,596,618,626,668,697,781,785,798,819,841,877,909,946,976],"popular":[10],"topic":[11],"in":[12,75,85,104,123,144,196,267,356,409,478,495,572,578,672,833,907,933,947,974],"robotics,":[13],"computer":[14,24],"vision":[15,25],"or":[16,146,159,218,312,644],"augmented":[17],"reality.":[18],"By":[19,427,515,565],"means":[20,428,511,516,566,740,765],"of":[21,35,68,101,120,129,164,202,205,231,292,341,385,395,421,429,457,472,481,512,517,545,562,567,592,629,651,665,736,741,766,769,793,822,838,860,951,964,970],"cameras":[22,43,57],"techniques,":[26],"it":[27,245,284],"is":[28,71,93,246,285,348,376,461,575,657],"possible":[29],"to":[30,49,82,96,248,269,287,336,351,360,364,369,379,390,405,454,712,716,753,849,873,891],"obtain":[31,270,337,391],"accurate":[32,112,257,272,338],"models":[34],"large-scale":[36,125],"environments":[37,699,936],"such":[38,52,214,305,424,490,611,636,704,824,937],"as":[39,53,306,330,425,491,549,612,637,705,825,938],"cities.":[40],"In":[41,107,221,260,317,498,536,646,724,913],"addition,":[42,222,914],"are":[44,157,160,175,187,200,210,233,417,507,557],"low-cost,":[45],"non-intrusive":[46],"sensors":[47,51],"compared":[48,866],"other":[50,212,633],"laser":[54],"scanners.":[55],"Furthermore,":[56,863],"also":[58,211,349,865],"offer":[59],"rich":[61],"information":[62,113,682],"about":[63,114,201,857],"the":[64,72,86,99,102,105,108,115,121,165,178,192,203,293,331,342,361,386,392,396,430,442,455,462,479,492,521,560,573,586,593,624,638,652,658,673,685,717,734,760,767,839,858,874,892,897,903,918,940,948,961,968,971],"environment.":[65,343],"One":[66],"application":[67],"great":[69,152,794],"interest":[70],"vision-based":[73,274,501,647,786,807,868,893,904],"localization":[74,171,258,275,502,648,787,808,840,869,887,894,905,969],"prior":[77,278,749,775],"map.":[79,106,280],"Robots":[80],"need":[81],"perform":[83],"tasks":[84],"environment":[87,126,294],"autonomously,":[88],"for":[90,131,154,168,191,241,484,683,698,732,789,896,967],"this":[91,261,318,460,496,537,707,725,754],"purpose,":[92,283],"very":[94,407,934],"important":[95,247],"know":[97],"precisely":[98],"location":[100,116],"robot":[103],"same":[109],"way,":[110],"providing":[111],"spatial":[118],"orientation":[119],"user":[122],"can":[127,149,533,691,710,758],"be":[128,150,239,406,534],"benefit":[130],"those":[132,155],"who":[133,156],"suffer":[134],"from":[135,276,314,747],"visual":[136,323,482,615,783,919],"impairment":[137],"problems.":[138],"A":[139,836],"safe":[140],"autonomous":[142],"navigation":[143,173],"unknown":[145],"known":[147,548],"environments,":[148,414,489],"challenge":[153],"blind":[158],"visually":[161,169,193,721,799,898,930,972],"impaired.":[162],"Most":[163],"commercial":[166],"solutions":[167,186],"impaired":[170,194,800,931,973],"assistance":[174],"based":[176,558,744],"on":[177,252,559,608,679],"satellite":[179],"Global":[180],"Positioning":[181],"System":[182],"(GPS).":[183],"However,":[184],"these":[185,518,568],"not":[188,225],"suitable":[189],"enough":[190],"community":[195],"urban-environments.":[197],"The":[198,344,957],"errors":[199,856],"order":[204,268,859],"several":[206,265],"meters":[207],"there":[209,416],"problems":[213],"GPS":[215,223,237],"signal":[216],"loss":[217],"line-of-sight":[219],"restrictions.":[220],"does":[224],"work":[226],"if":[227],"an":[228,271,604,730],"insufficient":[229],"number":[230,420],"satellites":[232],"directly":[234],"visible.":[235],"Therefore,":[236],"cannot":[238],"used":[240],"indoor":[242,908],"environments.":[243,912,978],"Thus,":[244],"do":[249],"further":[250],"research":[251],"new":[253],"robust":[255],"systems.":[259],"thesis":[262,538,726],"we":[263,301,320,435,539,727,757,864,900,915],"propose":[264],"algorithms":[266,690,788],"real-time":[273],"For":[281,296],"that":[282,298,334,388,465,622],"necessary":[286],"compute":[288],"map":[291,505,526,664],"beforehand.":[295],"computing":[297],"map,":[300],"employ":[302],"well-known":[303],"techniques":[304],"Simultaneous":[307],"Localization":[308],"Mapping":[310,878],"(SLAM)":[311],"Structure":[313],"Motion":[315],"(SfM).":[316],"thesis,":[319],"implement":[321],"SLAM":[324,346,443,483,499,784,920],"system":[325,347,870,906],"using":[326],"stereo":[328],"camera":[329,362,776],"only":[332],"sensor":[333],"allows":[335,389],"reconstructions":[340],"proposed":[345],"capable":[350],"detect":[352],"moving":[353,371,400,431,473,830,923],"objects":[354,372,401,423,432,474,924],"especially":[355],"close":[358],"range":[359],"up":[363],"approximately":[365],"5":[366],"meters,":[367],"thanks":[368,378],"detection":[373,402,433,471,925],"module.":[374],"This":[375,399],"possible,":[377],"dense":[381,466],"scene":[382,467],"flow":[383,468],"representation":[384],"environment,":[387],"motion":[394,852],"world":[397],"points.":[398],"module":[403,434],"seems":[404],"effective":[408],"highly":[410,701],"crowded":[411,486],"dynamic":[413,422,488,935],"where":[415],"huge":[419],"pedestrians.":[426],"avoid":[436],"adding":[437],"erroneous":[438,713],"points":[440,506,667,738,772],"into":[441],"process,":[444],"yielding":[445,855],"much":[446,882],"better":[447,883],"consistent":[449],"reconstruction":[451],"results.":[452],"Up":[453,551],"best":[456],"our":[458,867,886,965],"knowledge,":[459],"first":[463],"time":[464],"derived":[470],"has":[475,813,844],"been":[476,814,845],"applied":[477],"context":[480],"challenging":[485],"ones":[493],"presented":[494],"Thesis.":[497],"approaches,":[503],"usually":[508],"described":[509],"by":[510,585,720,739,764],"appearance":[513,519,546],"descriptors.":[514],"descriptors,":[520],"data":[522,659,686,708,761],"association":[523,660,687,709,762],"between":[524,661],"elements":[527],"perceived":[529,669],"2D":[530,670],"image":[531,574,613],"features":[532,671],"done.":[535],"investigated":[541],"novel":[543],"family":[544],"descriptors":[547,556,631,635],"Gauge-Speeded":[550],"Robust":[552],"Features":[553],"(G-SURF).":[554],"Those":[555],"use":[561],"gauge":[563],"coordinates.":[564],"coordinates":[569],"every":[570],"pixel":[571],"fixed":[576],"separately":[577],"its":[579,597],"own":[580],"local":[581,587],"coordinate":[582],"frame":[583],"defined":[584],"structure":[588],"itself":[589],"consisting":[591],"gradient":[594],"vector":[595],"perpendicular":[598],"direction.":[599],"We":[600,778],"carried":[602],"out":[603],"extensive":[605],"experimental":[606],"evaluation":[607],"different":[609,791,817,820],"matching,":[614],"object":[616],"categorization":[617],"SfM":[620],"show":[623],"usefulness":[625],"improved":[627],"results":[628,714,884,959],"G-SURF":[630],"against":[632],"state-of-the-art":[634],"Scale":[639],"Invariant":[640],"Feature":[641],"Transform":[642],"(SIFT)":[643],"SURF.":[645],"applications,":[649],"one":[650],"most":[653],"expensive":[654],"computational":[655,695],"steps":[656],"large":[663,975],"image.":[674],"Traditional":[675],"approaches":[676],"often":[677],"rely":[678],"purely":[680],"appearence":[681],"solving":[684],"step.":[688],"These":[689],"high":[694],"demand":[696],"with":[700,810,829,847,871,885,922,928],"repetitive":[702],"textures,":[703],"cities,":[706],"lead":[711],"due":[715],"ambiguities":[718],"introduced":[719],"similar":[722],"features.":[723],"done":[729,846],"algorithm":[731,809,921],"predicting":[733],"visibility":[735,811],"memory":[743],"learning":[745,755],"approach":[746,895,966],"reconstruction.":[751],"Thanks":[752],"approach,":[756,880],"speed-up":[759],"step":[763],"prediction":[768,812],"visible":[770],"given":[773],"pose.":[777],"implemented":[780],"evaluated":[782,815,902,917],"two":[790],"interest:":[795],"humanoid":[796,803],"robots":[797],"people.":[801],"Regarding":[802],"robots,":[804],"monocular":[806],"under":[816],"scenarios":[818],"types":[821],"sequences":[823],"square":[826],"trajectories,":[827],"circular,":[828],"objects,":[831],"changes":[832],"lighting,":[834],"etc.":[835],"comparison":[837],"mapping":[842],"error":[843],"respect":[848,872,890],"precise":[851],"capture":[853],"system,":[854],"few":[861],"cm.":[862],"Parallel":[875],"Tracking":[876],"(PTAM)":[879],"obtaining":[881],"algorithm.":[888],"With":[889],"impaired,":[899],"cluttered":[910,977],"office-like":[911],"considering":[926],"test":[927],"real":[929],"users":[932],"inside":[939],"Atocha":[941],"railway":[942],"station":[943],"(Madrid,":[944,955],"Spain)":[945],"city":[949],"center":[950],"Alcal\u00e1":[952],"de":[953],"Henares":[954],"Spain).":[956],"obtained":[958],"highlight":[960],"potential":[962],"benefits":[963]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
