{"id":"https://openalex.org/W55331592","doi":null,"title":"Fast stereo-based visual odometry for rover navigation","display_name":"Fast stereo-based visual odometry for rover navigation","publication_year":2008,"publication_date":"2008-07-01","ids":{"openalex":"https://openalex.org/W55331592","mag":"55331592"},"language":"en","primary_location":{"id":"mag:55331592","doi":null,"is_oa":false,"landing_page_url":"http://www.wseas.us/e-library/transactions/circuits/2008/27-511.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S2764701073","display_name":"WSEAS Transactions on Circuits and Systems archive","issn_l":"1109-2734","issn":["1109-2734","2224-266X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","poland-20","russia-white-list-4"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"WSEAS Transactions on Circuits and Systems archive","raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"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/A5033322116","display_name":"Aldo Cumani","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210136559","display_name":"Istituto Nazionale di Ricerca Metrologica","ror":"https://ror.org/03vn1bh77","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210136559","https://openalex.org/I4392021227"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Aldo Cumani","raw_affiliation_strings":["Istituto Nazionale di Ricerca Metrologica, Torino, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Nazionale di Ricerca Metrologica, Torino, Italy#TAB#","institution_ids":["https://openalex.org/I4210136559"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113435199","display_name":"Antonio Guiducci","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210136559","display_name":"Istituto Nazionale di Ricerca Metrologica","ror":"https://ror.org/03vn1bh77","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210136559","https://openalex.org/I4392021227"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Guiducci","raw_affiliation_strings":["Istituto Nazionale di Ricerca Metrologica, Torino, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Nazionale di Ricerca Metrologica, Torino, Italy#TAB#","institution_ids":["https://openalex.org/I4210136559"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210136559"],"apc_list":null,"apc_paid":null,"fwci":2.0302,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.8792393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":87,"max":96},"biblio":{"volume":"7","issue":"7","first_page":"648","last_page":"657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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":0.9984999895095825,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.0008999999845400453,"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":0.00019999999494757503,"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/visual-odometry","display_name":"visual odometry","score":0.9980000257492065},{"id":"https://openalex.org/keywords/stereo-vision","display_name":"stereo vision","score":0.9869999885559082},{"id":"https://openalex.org/keywords/rover-navigation","display_name":"rover navigation","score":0.9580000042915344},{"id":"https://openalex.org/keywords/feature-point-tracking","display_name":"feature point tracking","score":0.6420000195503235},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"bundle adjustment","score":0.859000027179718},{"id":"https://openalex.org/keywords/feature-descriptors","display_name":"feature descriptors","score":0.6259999871253967},{"id":"https://openalex.org/keywords/surf","display_name":"SURF","score":0.859000027179718},{"id":"https://openalex.org/keywords/camera-motion-estimation","display_name":"camera motion estimation","score":0.6959999799728394},{"id":"https://openalex.org/keywords/error-accumulation","display_name":"error accumulation","score":0.6169999837875366},{"id":"https://openalex.org/keywords/trajectory-estimation","display_name":"trajectory estimation","score":0.6510000228881836}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.916894793510437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8102001547813416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7914624214172363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.653957188129425},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.6084415912628174},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6001592874526978},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5728327035903931},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5244760513305664},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4604284465312958},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45232564210891724},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22772014141082764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19524440169334412},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1114901602268219},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10909304022789001},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:55331592","doi":null,"is_oa":false,"landing_page_url":"http://www.wseas.us/e-library/transactions/circuits/2008/27-511.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S2764701073","display_name":"WSEAS Transactions on Circuits and Systems archive","issn_l":"1109-2734","issn":["1109-2734","2224-266X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","poland-20","russia-white-list-4"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"WSEAS Transactions on Circuits and Systems archive","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W125675508","https://openalex.org/W1586173270","https://openalex.org/W1677409904","https://openalex.org/W2033819227","https://openalex.org/W2113243634","https://openalex.org/W2124404372","https://openalex.org/W2130103520","https://openalex.org/W2137666905","https://openalex.org/W2151103935","https://openalex.org/W2164598857","https://openalex.org/W2164638305","https://openalex.org/W2177274842","https://openalex.org/W2184737441","https://openalex.org/W2287511306"],"related_works":["https://openalex.org/W2287511306","https://openalex.org/W2101730797","https://openalex.org/W115118758","https://openalex.org/W85270780","https://openalex.org/W2464289678","https://openalex.org/W2791210876","https://openalex.org/W2208185237","https://openalex.org/W2768457909","https://openalex.org/W2740754071","https://openalex.org/W2166502824"],"abstract_inverted_index":{"The":[0,20],"object":[1],"of":[2,8,11,28,38,56],"visual":[3],"odometry":[4],"is":[5,50],"the":[6,9,26,73],"computation":[7],"path":[10,88],"a":[12,45,51,65],"rover":[13],"from":[14],"onboard":[15],"passive":[16],"vision":[17,34],"data":[18,79],"only.":[19],"approach":[21],"presented":[22],"here":[23],"relies":[24],"on":[25,77],"accumulation":[27],"ego-motion":[29],"estimates":[30],"obtained":[31],"by":[32],"stereo":[33],"and":[35,53],"bundle":[36],"adjustment":[37],"tracked":[39],"feature":[40,47],"points.":[41],"We":[42],"also":[43],"propose":[44],"new":[46],"detector/descriptor,":[48],"which":[49],"simplified":[52],"faster":[54],"form":[55],"other":[57],"well":[58],"known":[59],"descriptors":[60,83],"(SURF).":[61],"For":[62],"cyclic":[63],"paths,":[64],"deja":[66],"vu":[67],"mechanism":[68],"allows":[69],"further":[70],"control":[71],"over":[72],"accumulated":[74],"error.":[75],"Tests":[76],"real-world":[78],"show":[80],"that":[81],"our":[82],"are":[84],"effective":[85],"for":[86,94],"accurate":[87],"estimation,":[89],"while":[90],"being":[91],"fast":[92],"enough":[93],"use":[95],"in":[96],"tasks":[97],"such":[98],"as":[99],"autonomous":[100],"planetary":[101],"exploration.":[102]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"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"}