{"id":"https://openalex.org/W2803444137","doi":"https://doi.org/10.1109/access.2018.2836928","title":"Hybrid-Residual-Based RGBD Visual Odometry","display_name":"Hybrid-Residual-Based RGBD Visual Odometry","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2803444137","doi":"https://doi.org/10.1109/access.2018.2836928","mag":"2803444137"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2836928","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2836928","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2836928","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025264680","display_name":"Qinghua Yu","orcid":"https://orcid.org/0000-0002-5388-6330"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Yu","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN"],"raw_orcid":"https://orcid.org/0000-0002-5388-6330","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721758","display_name":"Junhao Xiao","orcid":"https://orcid.org/0000-0002-4751-539X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhao Xiao","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036075088","display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0002-6375-581X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346729","display_name":"Zhiqiang Zheng","orcid":"https://orcid.org/0000-0003-2656-6689"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zheng","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":18.9633,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98587302,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"28540","last_page":"28551"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980999827384949,"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":0.9975000023841858,"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":0.8954318165779114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7862114906311035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7620024681091309},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.728676438331604},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7243400812149048},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.694694995880127},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5599963068962097},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5594837069511414},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.4939952492713928},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.4316616356372833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15126147866249084},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10684803128242493},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10440483689308167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07022568583488464}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8954318165779114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7862114906311035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7620024681091309},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.728676438331604},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7243400812149048},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.694694995880127},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5599963068962097},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5594837069511414},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.4939952492713928},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.4316616356372833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15126147866249084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10684803128242493},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10440483689308167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07022568583488464},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2836928","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2836928","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ff19b84f161040c3978a8dd93ce55d9d","is_oa":true,"landing_page_url":"https://doaj.org/article/ff19b84f161040c3978a8dd93ce55d9d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 28540-28551 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2836928","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2836928","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1856471753","display_name":null,"funder_award_id":"2014M562648","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3850876085","display_name":null,"funder_award_id":"61503401","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5109993528","display_name":null,"funder_award_id":"61773393","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320324150","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1586173270","https://openalex.org/W1612997784","https://openalex.org/W1965574731","https://openalex.org/W1965851203","https://openalex.org/W1968034339","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2023827733","https://openalex.org/W2052972204","https://openalex.org/W2065026126","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2148228392","https://openalex.org/W2148820580","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2178809570","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2548610445","https://openalex.org/W2586879489","https://openalex.org/W2774634009","https://openalex.org/W3102327032","https://openalex.org/W6618872416","https://openalex.org/W6634982934","https://openalex.org/W6682056075","https://openalex.org/W6682324061","https://openalex.org/W6729154677","https://openalex.org/W6733308689"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W3200674214"],"abstract_inverted_index":{"Visual":[0],"odometry":[1,17,41,49],"has":[2,18],"greatly":[3,163],"progressed":[4],"since":[5],"non-linear":[6,107],"optimization":[7,90,108,123],"methods":[8,42],"were":[9],"introduced":[10],"for":[11,154],"pose":[12],"estimation.":[13],"Furthermore,":[14],"RGBD":[15,35,67,140,155],"visual":[16,40,48,77,156],"become":[19],"a":[20,74,88,111],"hot":[21],"research":[22],"topic":[23],"in":[24,105,120],"the":[25,32,57,60,95,99,106,121,126,129,134,144,147],"robotic":[26],"and":[27,98,115,160],"computer":[28],"vision":[29],"field":[30],"with":[31],"introduction":[33],"of":[34,59,63,82,128,146,149,152],"cameras.":[36],"However,":[37],"most":[38],"RGBD-camera-based":[39],"are":[43,85,102,118,162],"designed":[44],"by":[45,66,165],"extending":[46],"monocular":[47],"methods,":[50],"therein":[51],"not":[52],"paying":[53],"much":[54],"attention":[55],"to":[56,124],"integration":[58,148],"different":[61],"types":[62,81,151],"information":[64,84,153],"provided":[65],"images.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72],"propose":[73],"novel":[75],"hybrid-residual-based-RGBD":[76],"odometry,":[78],"where":[79,110],"three":[80],"complementary":[83],"integrated":[86],"into":[87],"joint":[89],"model.":[91],"The":[92,158],"reprojection":[93],"residuals,":[94],"photometric":[96],"residuals":[97,101],"depth":[100],"minimized":[103],"together":[104],"process,":[109],"robust":[112],"cost":[113],"function":[114],"outlier":[116],"filtering":[117],"employed":[119],"iterative":[122],"enhance":[125],"robustness":[127,161],"iteration":[130],"while":[131],"simultaneously":[132],"maintaining":[133],"optimality.":[135],"Experiments":[136],"on":[137],"publicly":[138],"available":[139],"data":[141],"sets":[142],"validate":[143],"advantages":[145],"multiple":[150],"odometry.":[157],"accuracy":[159],"improved":[164],"our":[166],"method.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}