{"id":"https://openalex.org/W2032781197","doi":"https://doi.org/10.1017/s026357471400040x","title":"A new feature parametrization for monocular SLAM using line features","display_name":"A new feature parametrization for monocular SLAM using line features","publication_year":2014,"publication_date":"2014-03-05","ids":{"openalex":"https://openalex.org/W2032781197","doi":"https://doi.org/10.1017/s026357471400040x","mag":"2032781197"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471400040x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471400040x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5069782955","display_name":"Liang Zhao","orcid":"https://orcid.org/0000-0003-4063-8183"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Liang Zhao","raw_affiliation_strings":["Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116159416","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0002-0035-4947"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yan","raw_affiliation_strings":["Institute of Remote Sensing and GIS, School of Earth and Space Science, Peking University, Beijing, 100871, China","\u2021Institute of Remote Sensing and GIS,School of Earth and Space Science,Peking University,Beijing,100871,China"],"affiliations":[{"raw_affiliation_string":"Institute of Remote Sensing and GIS, School of Earth and Space Science, Peking University, Beijing, 100871, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"\u2021Institute of Remote Sensing and GIS,School of Earth and Space Science,Peking University,Beijing,100871,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gamini Dissanayake","raw_affiliation_strings":["Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069782955"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":39.5644,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.993052,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"33","issue":"3","first_page":"513","last_page":"536"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"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/reprojection-error","display_name":"Reprojection error","score":0.8509594202041626},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7220981121063232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6578793525695801},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.610081672668457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919061303138733},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5831154584884644},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5679445862770081},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5667876601219177},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5531717538833618},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.5350106358528137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5180597305297852},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.48635464906692505},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4775322675704956},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36704158782958984},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3564801514148712},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21933048963546753},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17990270256996155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08951258659362793}],"concepts":[{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.8509594202041626},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7220981121063232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6578793525695801},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.610081672668457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919061303138733},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5831154584884644},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5679445862770081},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5667876601219177},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5531717538833618},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.5350106358528137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5180597305297852},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.48635464906692505},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4775322675704956},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36704158782958984},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3564801514148712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21933048963546753},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17990270256996155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08951258659362793},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s026357471400040x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471400040x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/35548","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/35548","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W62966379","https://openalex.org/W169439271","https://openalex.org/W1661995841","https://openalex.org/W1940100136","https://openalex.org/W1964814179","https://openalex.org/W1974069346","https://openalex.org/W1974222962","https://openalex.org/W1991793962","https://openalex.org/W1992989752","https://openalex.org/W2011754354","https://openalex.org/W2033819227","https://openalex.org/W2057488855","https://openalex.org/W2059470495","https://openalex.org/W2069839747","https://openalex.org/W2081501943","https://openalex.org/W2089373496","https://openalex.org/W2097081105","https://openalex.org/W2103217674","https://openalex.org/W2104385282","https://openalex.org/W2113243634","https://openalex.org/W2113632627","https://openalex.org/W2120353515","https://openalex.org/W2121013842","https://openalex.org/W2121308169","https://openalex.org/W2131752723","https://openalex.org/W2142355452","https://openalex.org/W2145023731","https://openalex.org/W2146775457","https://openalex.org/W2148916113","https://openalex.org/W2154680149","https://openalex.org/W2155583629","https://openalex.org/W2161627606","https://openalex.org/W2183598498","https://openalex.org/W2481116446","https://openalex.org/W2530703840","https://openalex.org/W2558687840","https://openalex.org/W2560835477","https://openalex.org/W2582998992","https://openalex.org/W3145680189","https://openalex.org/W4236769309","https://openalex.org/W4245286259","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2162931489","https://openalex.org/W3046942518","https://openalex.org/W2964189516","https://openalex.org/W2500113743","https://openalex.org/W4298587482","https://openalex.org/W3185375952","https://openalex.org/W2015443082","https://openalex.org/W2281336597","https://openalex.org/W2981356822","https://openalex.org/W2002606522"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,58],"new":[5,88],"monocular":[6,80],"SLAM":[7,81],"algorithm":[8,65,91],"that":[9,66],"uses":[10],"straight":[11],"lines":[12],"extracted":[13],"from":[14,114],"images":[15],"to":[16,105,122],"represent":[17],"the":[18,34,42,52,68,72,79,96,100,107,124,129],"environment.":[19],"A":[20,61,87],"line":[21,73,85],"is":[22,48,57,75,103],"parametrized":[23],"by":[24],"two":[25,35],"pairs":[26],"of":[27,71,99,128],"azimuth":[28],"and":[29,117,126,132],"elevation":[30],"angles":[31],"together":[32],"with":[33,83],"corresponding":[36],"camera":[37],"centres":[38],"as":[39,55],"anchors":[40],"making":[41],"feature":[43],"initialization":[44],"relatively":[45],"straightforward.":[46],"There":[47],"no":[49],"redundancy":[50],"in":[51],"state":[53],"vector":[54],"this":[56],"minimal":[59],"representation.":[60],"bundle":[62],"adjustment":[63],"(BA)":[64],"minimizes":[67],"reprojection":[69],"error":[70],"features":[74],"developed":[76],"for":[77],"solving":[78],"problem":[82],"only":[84],"features.":[86],"map":[89,133],"joining":[90,134],"which":[92],"can":[93],"automatically":[94],"optimize":[95],"relative":[97],"scales":[98],"local":[101,108],"maps":[102,109],"used":[104,121],"combine":[106],"generated":[110],"using":[111],"BA.":[112],"Results":[113],"both":[115],"simulations":[116],"experimental":[118],"datasets":[119],"are":[120],"demonstrate":[123],"accuracy":[125],"consistency":[127],"proposed":[130],"BA":[131],"algorithms.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}