{"id":"https://openalex.org/W3206998593","doi":"https://doi.org/10.33012/2021.18084","title":"Deterministic Visual Mapping","display_name":"Deterministic Visual Mapping","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3206998593","doi":"https://doi.org/10.33012/2021.18084","mag":"3206998593"},"language":"en","primary_location":{"id":"doi:10.33012/2021.18084","doi":"https://doi.org/10.33012/2021.18084","is_oa":false,"landing_page_url":"https://doi.org/10.33012/2021.18084","pdf_url":null,"source":{"id":"https://openalex.org/S4220651297","display_name":"Proceedings of the Satellite Division's International Technical Meeting (Online)/Proceedings of the Satellite Division's International Technical Meeting (CD-ROM)","issn_l":"2331-5911","issn":["2331-5911","2331-5954"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"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":"ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5039258220","display_name":"Pierre B\u00e9net","orcid":"https://orcid.org/0009-0009-1866-0633","observed_orcids":["https://orcid.org/0009-0009-1866-0633"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pierre B\u00e9net","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5031640553","display_name":"Alexis Guinamard","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexis Guinamard","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.077,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.23947376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"3173","last_page":"3188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular-slam","display_name":"monocular SLAM","score":0.9470000267028809},{"id":"https://openalex.org/keywords/stereo-visual-odometry","display_name":"stereo visual odometry","score":0.781000018119812},{"id":"https://openalex.org/keywords/direct-sparse-odometry","display_name":"direct sparse odometry","score":0.6129999756813049},{"id":"https://openalex.org/keywords/outlier-removal","display_name":"outlier removal","score":0.5389999747276306},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"bundle adjustment","score":0.781000018119812},{"id":"https://openalex.org/keywords/loop-closure","display_name":"loop closure","score":0.5989999771118164},{"id":"https://openalex.org/keywords/drone-localization","display_name":"drone localization","score":0.4009999930858612},{"id":"https://openalex.org/keywords/euroc-dataset","display_name":"EuRoC dataset","score":0.699999988079071}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8197458386421204},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.780620813369751},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.777538001537323},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7455801963806152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6824262142181396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6762328743934631},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6465343236923218},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.586707353591919},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5376220345497131},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.46287113428115845},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4534175992012024},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.44856616854667664},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44473010301589966},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4335933327674866},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.385891854763031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23553812503814697},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21121180057525635},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1830296814441681},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14365965127944946},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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":1,"locations":[{"id":"doi:10.33012/2021.18084","doi":"https://doi.org/10.33012/2021.18084","is_oa":false,"landing_page_url":"https://doi.org/10.33012/2021.18084","pdf_url":null,"source":{"id":"https://openalex.org/S4220651297","display_name":"Proceedings of the Satellite Division's International Technical Meeting (Online)/Proceedings of the Satellite Division's International Technical Meeting (CD-ROM)","issn_l":"2331-5911","issn":["2331-5911","2331-5954"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"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":"ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation","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":0,"referenced_works":[],"related_works":["https://openalex.org/W4205303182","https://openalex.org/W3018661866","https://openalex.org/W1967014021","https://openalex.org/W2903355354","https://openalex.org/W3009570285","https://openalex.org/W2085689676","https://openalex.org/W3192961001","https://openalex.org/W4226031445","https://openalex.org/W3087857475","https://openalex.org/W7172135047"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"our":[3,22,35,80,90,159,178,198,250],"development":[4,23,199],"of":[5,24,63,83,208,216,221,233,257,278],"monocular":[6,36],"visual":[7,26,37,42,91,109],"Simultaneous":[8],"Localization":[9],"And":[10],"Mapping":[11,120],"(SLAM),":[12],"and":[13,19,45,47,67,96,134,141,241],"its":[14,128],"extensions":[15],"to":[16,32,86,131,146,185,200,203,271],"inertial":[17],"aiding":[18],"stereo.":[20],"Following":[21],"stereo":[25],"odometry":[27],"RADVO,":[28],"we":[29,102,123,135],"were":[30],"able":[31,202],"apply":[33],"on":[34,73,165,237,260],"SLAM":[38,157,180,252],"system":[39,81],"the":[40,48,54,68,84,132,210,214,234,238,261],"same":[41,49],"feature":[43,55,126],"extraction":[44],"matching,":[46],"outlier":[50,69],"removal":[51,70],"principles.":[52],"Hence":[53],"matching":[56,66],"strategy":[57,162],"is":[58,71,174,182],"done":[59],"with":[60],"sparse":[61],"Normalized-Sum":[62],"Squared":[64],"Difference":[65],"based":[72],"a":[74,100,125,142,217,224,275],"quadratic":[75],"loss":[76],"function.":[77],"Which":[78],"makes":[79],"one":[82],"few":[85,225,276],"be":[87,192,201],"deterministic.":[88],"Since":[89],"features":[92,145,211,222],"are":[93,97],"rather":[94,167],"simple":[95],"localized":[98],"at":[99],"pixel,":[101],"applied":[103],"successfully":[104],"several":[105],"concepts":[106],"from":[107],"direct":[108],"methods":[110],"such":[111],"as":[112],"Direct":[113,118],"Sparse":[114,119],"Odometry":[115],"(DSO)":[116],"or":[117],"(DSM).":[121],"Hence,":[122],"model":[124],"using":[127,281],"inverse":[129],"distance":[130],"camera":[133],"use":[136],"about":[137],"ten":[138],"active":[139,144],"frames":[140],"thousand":[143],"perform":[147,204],"optimization":[148],"(bundle":[149],"adjustment)":[150],"for":[151,227],"short":[152],"term":[153],"SLAM.":[154],"Unlike":[155],"many":[156],"systems,":[158],"loop":[160],"closing":[161],"relies":[163],"only":[164],"prediction":[166],"than":[168],"place":[169],"recognition.":[170],"Like":[171],"DSM,":[172],"this":[173],"made":[175],"possible":[176],"by":[177],"short-term":[179],"that":[181,269],"precise":[183],"enough":[184],"predict":[186],"when":[187],"an":[188,254],"old":[189],"frame":[190],"will":[191],"visible":[193],"again.":[194],"We":[195,229],"pushed":[196],"further":[197],"global":[205],"bundle":[206],"adjustment":[207],"all":[209,213,245],"in":[212,223,244,264],"keyframes":[215],"log,":[218],"optimizing":[219],"millions":[220],"seconds":[226,277],"post-processing.":[228],"then":[230],"achieve":[231],"state":[232],"art":[235],"precision":[236],"EuRoC":[239,262],"dataset":[240,243],"TUM-VI":[242],"sensor":[246],"configuration.":[247],"In":[248],"particular":[249],"stereo-inertial":[251],"achieves":[253],"average":[255],"accuracy":[256,268],"2.9":[258],"cm":[259,273],"drone":[263],"real":[265],"time.":[266],"An":[267],"drops":[270],"2.6":[272],"after":[274],"post":[279],"processing":[280],"block-sparse":[282],"conjugate":[283],"gradient.":[284]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-10-06T10:28:23.643775","created_date":"2021-10-25T00:00:00"}
