{"id":"https://openalex.org/W3197014064","doi":"https://doi.org/10.1007/978-3-030-82147-0_41","title":"Accurate and Robust RGB-D Visual Odometry Based on Point and Line Features","display_name":"Accurate and Robust RGB-D Visual Odometry Based on Point and Line Features","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3197014064","doi":"https://doi.org/10.1007/978-3-030-82147-0_41","mag":"3197014064"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-82147-0_41","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-82147-0_41","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"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/A5102147118","display_name":"Guojie Zhao","orcid":"https://orcid.org/0009-0000-0022-5128"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojie Zhao","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100434301","display_name":"Yupeng Zhang","orcid":"https://orcid.org/0009-0004-4603-2670"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yupeng Zhang","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023882148","display_name":"Peichu Liu","orcid":"https://orcid.org/0009-0004-1413-1455"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peichu Liu","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091016501","display_name":"Haoen Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoen Wu","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102942694","display_name":"Mingyang Cui","orcid":"https://orcid.org/0000-0003-1398-702X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Cui","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, Changchun, 130000, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"500","last_page":"510"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9991000294685364,"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":0.9987000226974487,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8246601819992065},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.7742050290107727},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.7719501256942749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7341437339782715},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7339861989021301},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6914926767349243},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5486885905265808},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5086658596992493},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49277928471565247},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47372666001319885},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.4685298800468445},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4621591866016388},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4321918785572052},{"id":"https://openalex.org/keywords/feature-model","display_name":"Feature model","score":0.43204420804977417},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.4182121157646179},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3615463674068451},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1606200635433197},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13285037875175476},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09873253107070923}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8246601819992065},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.7742050290107727},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.7719501256942749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7341437339782715},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7339861989021301},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6914926767349243},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5486885905265808},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5086658596992493},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49277928471565247},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47372666001319885},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.4685298800468445},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4621591866016388},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4321918785572052},{"id":"https://openalex.org/C101814296","wikidata":"https://www.wikidata.org/wiki/Q5439685","display_name":"Feature model","level":3,"score":0.43204420804977417},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.4182121157646179},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3615463674068451},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1606200635433197},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13285037875175476},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09873253107070923},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"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/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-030-82147-0_41","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-82147-0_41","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1544479249","https://openalex.org/W1970828007","https://openalex.org/W2019534327","https://openalex.org/W2146881125","https://openalex.org/W2160072137","https://openalex.org/W2343416886","https://openalex.org/W2615077289","https://openalex.org/W2973283490","https://openalex.org/W2988027448","https://openalex.org/W2999467929","https://openalex.org/W3000570097","https://openalex.org/W3088155864","https://openalex.org/W3108211758","https://openalex.org/W3135945713"],"related_works":["https://openalex.org/W3013008108","https://openalex.org/W2176760663","https://openalex.org/W2979950214","https://openalex.org/W2557360293","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
