{"id":"https://openalex.org/W4383066254","doi":"https://doi.org/10.1109/icra48891.2023.10161558","title":"Monocular Simultaneous Localization and Mapping using Ground Textures","display_name":"Monocular Simultaneous Localization and Mapping using Ground Textures","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066254","doi":"https://doi.org/10.1109/icra48891.2023.10161558"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161558","doi":"https://doi.org/10.1109/icra48891.2023.10161558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161558","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.05946","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081602666","display_name":"Kyle Hart","orcid":"https://orcid.org/0000-0001-8254-5722","observed_orcids":["https://orcid.org/0000-0001-8254-5722"]},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4389425451","display_name":"Naval Air Warfare Center Aircraft Division","ror":"https://ror.org/01zj39k81","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2801056593","https://openalex.org/I3130687028","https://openalex.org/I4389425451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle M. Hart","raw_affiliation_strings":["Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733","Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733","institution_ids":["https://openalex.org/I4389425451"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917","observed_orcids":["https://orcid.org/0000-0002-7966-2917"]},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049181514","display_name":"Ryan P. O\u2019Shea","orcid":"https://orcid.org/0009-0006-0400-9397","observed_orcids":["https://orcid.org/0009-0006-0400-9397"]},"institutions":[{"id":"https://openalex.org/I4389425451","display_name":"Naval Air Warfare Center Aircraft Division","ror":"https://ror.org/01zj39k81","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2801056593","https://openalex.org/I3130687028","https://openalex.org/I4389425451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan P. O'Shea","raw_affiliation_strings":["Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733","institution_ids":["https://openalex.org/I4389425451"]}]},{"author_position":"middle","author":{"id":null,"display_name":"John D. Kelly","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4389425451","display_name":"Naval Air Warfare Center Aircraft Division","ror":"https://ror.org/01zj39k81","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2801056593","https://openalex.org/I3130687028","https://openalex.org/I4389425451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John D. Kelly","raw_affiliation_strings":["Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733","institution_ids":["https://openalex.org/I4389425451"]}]},{"author_position":"last","author":{"id":null,"display_name":"David Martinez","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4389425451","display_name":"Naval Air Warfare Center Aircraft Division","ror":"https://ror.org/01zj39k81","country_code":"US","type":"government","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2801056593","https://openalex.org/I3130687028","https://openalex.org/I4389425451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Martinez","raw_affiliation_strings":["Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Air Warfare Center,Aircraft Division (NAWCAD),Lakehurst,NJ,USA,08733","institution_ids":["https://openalex.org/I4389425451"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1172,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87187677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2032","last_page":"2038"},"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/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":1.0,"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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":0.9639999866485596},{"id":"https://openalex.org/keywords/downward-facing-camera","display_name":"downward-facing camera","score":0.753000020980835},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.4230000078678131},{"id":"https://openalex.org/keywords/robust-m-estimators","display_name":"robust M-estimators","score":0.8090000152587891},{"id":"https://openalex.org/keywords/robot-pose-estimation","display_name":"robot pose estimation","score":0.7639999985694885}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8207806944847107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7805788516998291},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7635312676429749},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7309417128562927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7157713770866394},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.6363601684570312},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5421830415725708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4968283474445343},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.46271488070487976},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3477536141872406},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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":3,"locations":[{"id":"doi:10.1109/icra48891.2023.10161558","doi":"https://doi.org/10.1109/icra48891.2023.10161558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161558","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2303.05946","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.05946","pdf_url":"https://arxiv.org/pdf/2303.05946","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2303.05946","doi":"https://doi.org/10.48550/arxiv.2303.05946","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2303.05946","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.05946","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.05946","pdf_url":"https://arxiv.org/pdf/2303.05946","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G664400679","display_name":"CAREER: Belief Space Planning and Learning for Uncertainty-Immersed Underwater Robots","funder_award_id":"1652064","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383066254.pdf","grobid_xml":"https://content.openalex.org/works/W4383066254.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1627400044","https://openalex.org/W1989484209","https://openalex.org/W2117228865","https://openalex.org/W2118428504","https://openalex.org/W2151103935","https://openalex.org/W2182229738","https://openalex.org/W2409352305","https://openalex.org/W2414260735","https://openalex.org/W2535547924","https://openalex.org/W2738596250","https://openalex.org/W2798971533","https://openalex.org/W2910980511","https://openalex.org/W2937713253","https://openalex.org/W2967187198","https://openalex.org/W3007421589","https://openalex.org/W3043971245","https://openalex.org/W3099913005","https://openalex.org/W3130247099","https://openalex.org/W3138792061","https://openalex.org/W3148325332","https://openalex.org/W3205414863","https://openalex.org/W3206038952","https://openalex.org/W3206845495","https://openalex.org/W3210232381","https://openalex.org/W4285102397"],"related_works":["https://openalex.org/W4416748691","https://openalex.org/W4388890001","https://openalex.org/W4415102134","https://openalex.org/W2045715871","https://openalex.org/W4403764175","https://openalex.org/W2413819886","https://openalex.org/W2128275197","https://openalex.org/W2917257525","https://openalex.org/W1612997784","https://openalex.org/W7084043103"],"abstract_inverted_index":{"Recent":[0],"work":[1,48],"has":[2],"shown":[3],"impressive":[4],"localization":[5,39,62],"performance":[6],"using":[7],"only":[8],"images":[9,124,143],"of":[10,92,112],"ground":[11,106,169],"textures":[12],"taken":[13],"with":[14,141],"a":[15,22,55,59,90],"downward":[16],"facing":[17],"monocular":[18],"camera.":[19],"This":[20,86],"provides":[21],"reliable":[23],"navigation":[24],"method":[25],"that":[26,162],"is":[27,80],"robust":[28,82,132],"to":[29,50,83,95,121,134],"feature":[30],"sparse":[31],"environments":[32],"and":[33,63,77,102,114,125,144],"challenging":[34],"lighting":[35],"conditions.":[36],"However,":[37],"these":[38],"methods":[40],"require":[41],"an":[42,70],"existing":[43,71],"map":[44,56,153],"for":[45,54,155],"comparison.":[46],"Our":[47],"aims":[49],"relax":[51],"the":[52,78,105,136,152],"need":[53],"by":[57],"introducing":[58],"full":[60],"simultaneous":[61],"mapping":[64],"(SLAM)":[65],"system.":[66],"By":[67],"not":[68,172],"requiring":[69],"map,":[72],"setup":[73],"times":[74],"are":[75,100,118],"minimized":[76],"system":[79,88,129,164],"more":[81],"changing":[84],"environments.":[85],"SLAM":[87],"uses":[89,131],"combination":[91],"several":[93,115],"techniques":[94],"accomplish":[96],"this.":[97],"Image":[98],"keypoints":[99],"identified":[101],"projected":[103],"into":[104],"plane.":[107],"These":[108,147],"keypoints,":[109],"visual":[110],"bags":[111],"words,":[113],"threshold":[116],"parameters":[117],"then":[119,130],"used":[120,154],"identify":[122],"overlapping":[123,142],"revisited":[126,145],"areas.":[127,146],"The":[128],"Mestimators":[133],"estimate":[135],"transform":[137],"between":[138],"robot":[139],"poses":[140],"optimized":[148],"estimates":[149],"make":[150],"up":[151],"navigation.":[156],"We":[157],"show,":[158],"through":[159],"experimental":[160],"data,":[161],"this":[163],"performs":[165],"reliably":[166],"on":[167],"many":[168],"textures,":[170],"but":[171],"all.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-10-27T15:51:10.671819","created_date":"2023-07-05T00:00:00"}