{"id":"https://openalex.org/W4402644954","doi":"https://doi.org/10.1007/s11370-024-00559-w","title":"Direct RGB-D visual odometry with point features","display_name":"Direct RGB-D visual odometry with point features","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4402644954","doi":"https://doi.org/10.1007/s11370-024-00559-w"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-024-00559-w","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-024-00559-w","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","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/A5108059605","display_name":"Zhigang Yao","orcid":"https://orcid.org/0000-0002-9508-6374"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]},{"id":"https://openalex.org/I4210139483","display_name":"GREYC","ror":"https://ror.org/043749971","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I194210350","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210139483","https://openalex.org/I4210159245","https://openalex.org/I98702875"]}],"countries":["CN","FR"],"is_corresponding":false,"raw_author_name":"Zhigang Yao","raw_affiliation_strings":["GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","Graduate School, North China University of Technology, 5 Jinyuanzhuang Road, Beijing, 110043, China","NCUT - North China University of Technology (China)"],"affiliations":[{"raw_affiliation_string":"GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","institution_ids":["https://openalex.org/I4210139483","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Graduate School, North China University of Technology, 5 Jinyuanzhuang Road, Beijing, 110043, China","institution_ids":["https://openalex.org/I1456306"]},{"raw_affiliation_string":"NCUT - North China University of Technology (China)","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053642825","display_name":"An Xu","orcid":"https://orcid.org/0000-0002-0023-9703"},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu An","raw_affiliation_strings":["SARD, Renmin University of China, 59 Zhongguancun Street, Beijing, 100872, China","Renmin University of China = Universit\u00e9 Renmin de Chine (No. 59 Zhongguancun Street, Haidian District Beijing, 100872, P.R. China - China)"],"affiliations":[{"raw_affiliation_string":"SARD, Renmin University of China, 59 Zhongguancun Street, Beijing, 100872, China","institution_ids":["https://openalex.org/I78988378"]},{"raw_affiliation_string":"Renmin University of China = Universit\u00e9 Renmin de Chine (No. 59 Zhongguancun Street, Haidian District Beijing, 100872, P.R. China - China)","institution_ids":["https://openalex.org/I78988378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110149194","display_name":"Christophe Charrier","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210139483","display_name":"GREYC","ror":"https://ror.org/043749971","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I194210350","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210139483","https://openalex.org/I4210159245","https://openalex.org/I98702875"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Charrier","raw_affiliation_strings":["GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","Equipe SAFE - Laboratoire GREYC - UMR6072 (France)"],"affiliations":[{"raw_affiliation_string":"GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","institution_ids":["https://openalex.org/I4210139483","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Equipe SAFE - Laboratoire GREYC - UMR6072 (France)","institution_ids":["https://openalex.org/I4210139483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079967426","display_name":"Christophe Rosenberger","orcid":"https://orcid.org/0000-0002-2042-9029"},"institutions":[{"id":"https://openalex.org/I4210139483","display_name":"GREYC","ror":"https://ror.org/043749971","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I194210350","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210139483","https://openalex.org/I4210159245","https://openalex.org/I98702875"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Rosenberger","raw_affiliation_strings":["GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","Equipe SAFE - Laboratoire GREYC - UMR6072 (France)"],"affiliations":[{"raw_affiliation_string":"GREYC UMR 6072, CNRS, 6, Bd. Marchal Juin, 14000, Caen, France","institution_ids":["https://openalex.org/I4210139483","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Equipe SAFE - Laboratoire GREYC - UMR6072 (France)","institution_ids":["https://openalex.org/I4210139483"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053642825"],"corresponding_institution_ids":["https://openalex.org/I78988378"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.7561,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79497623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"17","issue":"5","first_page":"1077","last_page":"1089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8853314518928528},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.8003373146057129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7098748683929443},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6572467088699341},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49990200996398926},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.49689462780952454},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4783608317375183},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08134612441062927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08108088374137878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.052881598472595215}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8853314518928528},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8003373146057129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7098748683929443},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6572467088699341},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49990200996398926},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.49689462780952454},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4783608317375183},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08134612441062927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08108088374137878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.052881598472595215},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s11370-024-00559-w","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-024-00559-w","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04706321v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04706321","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 1861-2776","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1902677311","https://openalex.org/W1970504153","https://openalex.org/W1977246677","https://openalex.org/W2015996585","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2035379092","https://openalex.org/W2115106482","https://openalex.org/W2151290401","https://openalex.org/W2154280780","https://openalex.org/W2211874131","https://openalex.org/W2295478803","https://openalex.org/W2410084394","https://openalex.org/W2535547924","https://openalex.org/W2735010494","https://openalex.org/W2740978300","https://openalex.org/W2745859992","https://openalex.org/W2898182017","https://openalex.org/W2962679300","https://openalex.org/W2962824803","https://openalex.org/W2971000934","https://openalex.org/W3040838455","https://openalex.org/W3091687063","https://openalex.org/W3102327032","https://openalex.org/W3109908659","https://openalex.org/W3194668998","https://openalex.org/W3206869601","https://openalex.org/W3211039562","https://openalex.org/W4221145923","https://openalex.org/W4234552385","https://openalex.org/W4290803068","https://openalex.org/W4294811199","https://openalex.org/W4294939108","https://openalex.org/W4379034017","https://openalex.org/W4383109217","https://openalex.org/W4393105125","https://openalex.org/W4394931374"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-20T23:28:44.954186","created_date":"2025-10-10T00:00:00"}
