{"id":"https://openalex.org/W2948413744","doi":"https://doi.org/10.1109/access.2019.2920453","title":"Monocular Visual Odometry Initialization With Points and Line Segments","display_name":"Monocular Visual Odometry Initialization With Points and Line Segments","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2948413744","doi":"https://doi.org/10.1109/access.2019.2920453","mag":"2948413744"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2920453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08728034.pdf","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://ieeexplore.ieee.org/ielx7/6287639/8600701/08728034.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101834659","display_name":"Hang Zhou","orcid":"https://orcid.org/0000-0002-1411-8494"},"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":true,"raw_author_name":"Hang Zhou","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN"],"raw_orcid":"https://orcid.org/0000-0002-1411-8494","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/A5062011702","display_name":"Haiyan Fan","orcid":"https://orcid.org/0000-0002-2136-4853"},"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":"Haiyan Fan","raw_affiliation_strings":["Peking University, Beijing, Beijing, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023434961","display_name":"Keju Peng","orcid":null},"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":"Keju Peng","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/A5110273024","display_name":"Weihong Fan","orcid":null},"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":"Weihong Fan","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/A5006468005","display_name":"Dongxiang Zhou","orcid":null},"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":"Dongxiang Zhou","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/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Chinese University of Hong Kong, New Territories, HK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, New Territories, HK","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101834659"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":12.8665,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98030131,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"73120","last_page":"73130"},"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":0.9993000030517578,"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":0.9993000030517578,"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/initialization","display_name":"Initialization","score":0.8951535224914551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7686953544616699},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7248843312263489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7227498888969421},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6295818090438843},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5857952833175659},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5390396118164062},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5176659226417542},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4852154552936554},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.48157787322998047},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.4809645712375641},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.46965089440345764},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4651423692703247},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43814346194267273},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.43214505910873413},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.349950909614563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2020748257637024},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1438140869140625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1029803454875946},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08147460222244263}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8951535224914551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7686953544616699},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7248843312263489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7227498888969421},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6295818090438843},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5857952833175659},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5390396118164062},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5176659226417542},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4852154552936554},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.48157787322998047},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.4809645712375641},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.46965089440345764},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4651423692703247},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43814346194267273},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.43214505910873413},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.349950909614563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2020748257637024},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1438140869140625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1029803454875946},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08147460222244263},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2920453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08728034.pdf","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:ac9727148df54288bc6960acf93ce5ec","is_oa":true,"landing_page_url":"https://doaj.org/article/ac9727148df54288bc6960acf93ce5ec","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 7, Pp 73120-73130 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2920453","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2920453","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08728034.pdf","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":[{"display_name":"Sustainable cities and communities","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3217922827","display_name":null,"funder_award_id":"U1613218","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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2948413744.pdf","grobid_xml":"https://content.openalex.org/works/W2948413744.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491719799","https://openalex.org/W1612997784","https://openalex.org/W1991044178","https://openalex.org/W1996520948","https://openalex.org/W2008849352","https://openalex.org/W2009703102","https://openalex.org/W2016643900","https://openalex.org/W2021851106","https://openalex.org/W2033819227","https://openalex.org/W2041263154","https://openalex.org/W2058535340","https://openalex.org/W2063878429","https://openalex.org/W2071823588","https://openalex.org/W2081501943","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2118428504","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2170282673","https://openalex.org/W2171778162","https://openalex.org/W2173552480","https://openalex.org/W2201953686","https://openalex.org/W2210972093","https://openalex.org/W2327767563","https://openalex.org/W2328987086","https://openalex.org/W2342785737","https://openalex.org/W2422409530","https://openalex.org/W2467423358","https://openalex.org/W2474873602","https://openalex.org/W2519914946","https://openalex.org/W2520525508","https://openalex.org/W2564632156","https://openalex.org/W2565472677","https://openalex.org/W2604579016","https://openalex.org/W2615725379","https://openalex.org/W2809927553","https://openalex.org/W2913335861","https://openalex.org/W2962679300","https://openalex.org/W2963200201","https://openalex.org/W3103648783","https://openalex.org/W6658838613","https://openalex.org/W6660916290","https://openalex.org/W6719546806","https://openalex.org/W6721539673"],"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/W3200674214","https://openalex.org/W2134192444"],"abstract_inverted_index":{"Conventional":[0],"initialization":[1],"algorithms":[2],"for":[3,42,112,169,179],"feature-based":[4],"monocular":[5],"visual":[6],"simultaneous":[7],"localization":[8],"and":[9,27,51,70,79,100,114,136,145,166],"mapping":[10],"(V-SLAM)/visual":[11],"odometry":[12],"(VO)":[13],"systems":[14],"used":[15],"point-based":[16],"matrix":[17],"decomposition.":[18],"However,":[19],"line":[20,40,55,71,81,104,115,126,167],"segments":[21,41,168],"are":[22,120,148],"common":[23],"in":[24],"urban":[25],"scenes":[26,147],"provide":[28],"valuable":[29],"information":[30],"about":[31],"scene":[32],"structure.":[33],"In":[34,90],"this":[35],"paper,":[36],"we":[37,92],"propose":[38,93],"incorporating":[39],"initializing,":[43],"which":[44,107,162,175],"allows":[45],"obtaining":[46],"accurate":[47],"initial":[48,110],"camera":[49],"poses":[50],"generate":[52],"reliable":[53],"3D":[54],"segment":[56,105],"landmarks":[57],"as":[58,60,67],"well":[59],"point":[61,78],"landmarks.":[62],"The":[63,128,139,154],"proposed":[64,160],"algorithm,":[65,161],"denoted":[66],"PLSfSM":[68],"(point":[69],"structure":[72,86],"from":[73,87],"small":[74,88],"motion),":[75],"employs":[76],"both":[77,143,164],"Plucker":[80],"reprojection":[82],"constraints":[83],"to":[84,97,122,150],"recover":[85],"motion.":[89],"particular,":[91],"a":[94],"closed-form":[95],"solution":[96],"estimate":[98],"rotation":[99,102,113],"optimize":[101],"with":[103],"correspondences,":[106],"provides":[108],"good":[109],"guesses":[111],"directions.":[116],"Mathematically":[117],"proven":[118],"criteria":[119],"introduced":[121],"detect":[123],"degeneracy":[124],"of":[125],"reconstruction.":[127],"algorithm":[129],"is":[130],"evaluated":[131],"on":[132,142],"synthetic":[133],"indoor":[134,144],"dataset":[135],"simulation":[137],"data.":[138],"qualitative":[140],"experiments":[141],"outdoor":[146],"conducted":[149],"verify":[151],"the":[152,159,172],"robustness.":[153],"experimental":[155],"results":[156],"validate":[157],"that":[158],"combines":[163],"points":[165,178],"initialization,":[170],"outperforms":[171],"state-of-the-art":[173],"methods":[174],"only":[176],"use":[177],"initialization.":[180]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}