{"id":"https://openalex.org/W2318525498","doi":"https://doi.org/10.1109/ccdc.2014.6853123","title":"The combination of SfM and monocular SLAM","display_name":"The combination of SfM and monocular SLAM","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2318525498","doi":"https://doi.org/10.1109/ccdc.2014.6853123","mag":"2318525498"},"language":"en","primary_location":{"id":"doi:10.1109/ccdc.2014.6853123","doi":"https://doi.org/10.1109/ccdc.2014.6853123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccdc.2014.6853123","pdf_url":null,"source":{"id":"https://openalex.org/S4363607715","display_name":"Chinese Control and Decision Conference (CCDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 26th Chinese Control and Decision Conference (2014 CCDC)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103020613","display_name":"Haoyin Zhou","orcid":"https://orcid.org/0000-0002-1334-8060","observed_orcids":["https://orcid.org/0000-0002-1334-8060"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyin Zhou","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100375792","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-2980-6281","observed_orcids":["https://orcid.org/0000-0002-2980-6281","https://orcid.org/0000-0002-0432-2942","https://orcid.org/0000-0002-5700-1966"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.25694077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"2","issue":null,"first_page":"5282","last_page":"5286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":9.999999747378752e-05,"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":9.999999747378752e-05,"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/structure-from-motion","display_name":"structure from motion","score":0.9190000295639038},{"id":"https://openalex.org/keywords/monocular-slam","display_name":"monocular SLAM","score":0.9990000128746033},{"id":"https://openalex.org/keywords/outlier-removal","display_name":"outlier removal","score":0.6209999918937683},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.6840000152587891},{"id":"https://openalex.org/keywords/unknown-environments","display_name":"unknown environments","score":0.4269999861717224},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.7329999804496765},{"id":"https://openalex.org/keywords/visual-localization","display_name":"visual localization","score":0.5230000019073486}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8966796398162842},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8125784397125244},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7595860958099365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7460618019104004},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7126104235649109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6139824986457825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1386987864971161},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10214409232139587}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccdc.2014.6853123","doi":"https://doi.org/10.1109/ccdc.2014.6853123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccdc.2014.6853123","pdf_url":null,"source":{"id":"https://openalex.org/S4363607715","display_name":"Chinese Control and Decision Conference (CCDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 26th Chinese Control and Decision Conference (2014 CCDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W349217628","https://openalex.org/W1582107067","https://openalex.org/W1795772705","https://openalex.org/W2091849600","https://openalex.org/W2097012319","https://openalex.org/W2101117936","https://openalex.org/W2101290767","https://openalex.org/W2108149436","https://openalex.org/W2112998988","https://openalex.org/W2117193720","https://openalex.org/W2124070468","https://openalex.org/W2124313187","https://openalex.org/W2126762950","https://openalex.org/W2127578024","https://openalex.org/W2146881125","https://openalex.org/W2150225753","https://openalex.org/W2152671441","https://openalex.org/W2170229019","https://openalex.org/W2171778162","https://openalex.org/W6611763955"],"related_works":["https://openalex.org/W2312533026","https://openalex.org/W2133805303","https://openalex.org/W1993653559","https://openalex.org/W2570990812","https://openalex.org/W1967014021","https://openalex.org/W28713596","https://openalex.org/W2387679096","https://openalex.org/W7100555370","https://openalex.org/W4400217066","https://openalex.org/W2898741471"],"abstract_inverted_index":{"To":[0],"realize":[1],"autonomous":[2],"navigation":[3],"with":[4,142],"a":[5,45,93],"regular":[6],"camera":[7],"in":[8,81,101],"an":[9],"unknown":[10],"environment,":[11],"there":[12],"are":[13,115],"mainly":[14],"two":[15],"types":[16],"of":[17,47,108],"approaches:":[18],"SfM":[19,29,85,91,119,143],"and":[20,27,32,72,86,104,120,126,144],"monocular":[21,87,102,109,123],"SLAM.":[22,88,124],"They":[23],"both":[24],"have":[25],"advantages":[26],"disadvantages.":[28],"is":[30,38,62,70,135,139],"slow":[31],"cannot":[33],"eliminate":[34],"outliers,":[35],"but":[36,68],"it":[37,69],"able":[39],"to":[40,64,95,111],"provide":[41],"3D":[42],"information":[43],"from":[44],"series":[46],"images":[48],"without":[49],"any":[50],"additional":[51],"information.":[52],"Monocular":[53],"SLAM":[54,110],"can":[55,73,146],"hardly":[56],"work":[57],"unless":[58],"the":[59,65,97,106,131],"initial":[60],"value":[61],"close":[63],"real":[66],"value,":[67],"fast":[71],"handle":[74],"outliers":[75,145],"naturally.":[76],"The":[77,137],"combination":[78,133],"approach":[79,134],"proposed":[80,132],"this":[82],"paper":[83],"combines":[84],"It":[89],"uses":[90,105],"as":[92],"observer":[94],"linearize":[96],"observation":[98],"function":[99],"used":[100],"SLAM,":[103],"results":[107,128],"accelerate":[112],"SfM.":[113],"Outliers":[114],"pointed":[116],"out":[117],"by":[118,122],"handled":[121],"Simulation":[125],"experiment":[127],"show":[129],"that":[130],"feasible.":[136],"accuracy":[138],"improved":[140],"compared":[141],"be":[147],"eliminated.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}
