{"id":"https://openalex.org/W2787325398","doi":"https://doi.org/10.1109/ascc.2017.8287573","title":"Convergence-enhanced dense RGB-D odometry with a rotational motion prior from a gyroscope","display_name":"Convergence-enhanced dense RGB-D odometry with a rotational motion prior from a gyroscope","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2787325398","doi":"https://doi.org/10.1109/ascc.2017.8287573","mag":"2787325398"},"language":"en","primary_location":{"id":"doi:10.1109/ascc.2017.8287573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2017.8287573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th Asian Control Conference (ASCC)","raw_type":"proceedings-article"},"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/A5101519873","display_name":"Changhyeon Kim","orcid":"https://orcid.org/0000-0003-4384-1902"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changhyeon Kim","raw_affiliation_strings":["department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008399317","display_name":"Sangil Lee","orcid":"https://orcid.org/0000-0001-9025-6250"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangil Lee","raw_affiliation_strings":["department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of mechanical & aerospace engineering, Seoul National University, Gwanak-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"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":"2528","last_page":"2533"},"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":0.9987999796867371,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7879530191421509},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7467649579048157},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6595503687858582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.637734591960907},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6056227684020996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5945404767990112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5903853178024292},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.570992112159729},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5536295175552368},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5410796999931335},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.48129144310951233},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4447253942489624},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.433095246553421},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.42213401198387146},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36422595381736755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3025069832801819},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1567634642124176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10842123627662659},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06673356890678406}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7879530191421509},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7467649579048157},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6595503687858582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.637734591960907},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6056227684020996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5945404767990112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5903853178024292},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.570992112159729},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5536295175552368},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5410796999931335},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.48129144310951233},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4447253942489624},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.433095246553421},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.42213401198387146},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36422595381736755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3025069832801819},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1567634642124176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10842123627662659},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06673356890678406},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ascc.2017.8287573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2017.8287573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"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/W612478963","https://openalex.org/W1498041548","https://openalex.org/W1585381382","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2087070363","https://openalex.org/W2091226544","https://openalex.org/W2108134361","https://openalex.org/W2118223742","https://openalex.org/W2151290401","https://openalex.org/W2168676389","https://openalex.org/W6618872416","https://openalex.org/W6672444091","https://openalex.org/W6677871018"],"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/W4312703710"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,45],"address":[4],"a":[5,12,18],"convergence-enhanced":[6],"dense":[7,28,98],"RGB-D":[8],"visual":[9,99],"odometry":[10],"with":[11,42,95],"rotational":[13,48,78],"motion":[14,122],"prior":[15,49,79],"derived":[16],"from":[17,50,80],"gyroscopic":[19],"data.":[20],"We":[21,83],"focus":[22],"on":[23],"two":[24],"main":[25],"problems":[26],"of":[27,36,57,86,116],"methods,":[29],"namely":[30],"high":[31,114],"computational":[32],"loads":[33],"and":[34,53,71,93],"existence":[35],"many":[37],"local":[38],"minima.":[39],"To":[40],"deal":[41],"these":[43],"problems,":[44],"use":[46],"the":[47,51,54,58,77,81,87,96,113,117],"gyroscope":[52],"general":[55],"structure":[56],"photometric":[59],"error":[60],"minimization":[61],"procedure":[62],"is":[63],"divided":[64],"into":[65],"two-fold":[66],"steps,":[67],"3-DoF":[68],"partial":[69],"problem":[70],"6-DoF":[72],"refinement":[73],"problem,":[74],"efficiently":[75],"utilizing":[76],"gyroscope.":[82],"evaluate":[84],"performances":[85],"proposed":[88],"algorithm":[89,103],"using":[90],"various":[91],"datasets":[92],"compare":[94],"popular":[97],"odometry,":[100],"DVO.":[101],"Our":[102],"not":[104],"only":[105],"operates":[106],"faster":[107],"than":[108],"DVO,":[109],"but":[110],"also":[111],"relieves":[112],"non-linearity":[115],"cost":[118],"function,":[119],"so":[120],"frequent":[121],"estimation":[123],"jumps":[124],"are":[125],"suppressed":[126],"considerably.":[127]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
