{"id":"https://openalex.org/W3094597998","doi":"https://doi.org/10.1109/cacre50138.2020.9230158","title":"Fiducial marker-based Metric Initialization for Monocular SLAM","display_name":"Fiducial marker-based Metric Initialization for Monocular SLAM","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3094597998","doi":"https://doi.org/10.1109/cacre50138.2020.9230158","mag":"3094597998"},"language":"en","primary_location":{"id":"doi:10.1109/cacre50138.2020.9230158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230158","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-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/A5072292862","display_name":"Mingzuo Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingzuo Zhou","raw_affiliation_strings":["School of Software Engineering, University of Science and Technology of China, Hefei, China","Tianjin Artificial Intelligence Innovation Center, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center, Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076253353","display_name":"Jianjun Gui","orcid":"https://orcid.org/0000-0002-3001-5284"},"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":"Jianjun Gui","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Beijing, China","Tianjin Artificial Intelligence Innovation Center, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Beijing, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center, Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051698618","display_name":"Baosong Deng","orcid":"https://orcid.org/0000-0002-5782-0689"},"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":"Baosong Deng","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Beijing, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066585363","display_name":"Dengke Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141966","display_name":"China Academy of Railway Sciences","ror":"https://ror.org/051wv2j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210141966"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dengke Xu","raw_affiliation_strings":["China Academy of Railway Sciences Corporation Limited, Signal & Communication Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"China Academy of Railway Sciences Corporation Limited, Signal & Communication Research Institute, Beijing, China","institution_ids":["https://openalex.org/I4210141966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101602641","display_name":"Yan Ye","orcid":"https://orcid.org/0000-0002-7278-0822"},"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":"Ye Yan","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Beijing, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072292862"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.21016795,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"630","last_page":"635"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.9246679544448853},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8430007696151733},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.7947276830673218},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7607766389846802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7315278053283691},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7244969606399536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6721566319465637},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5836446285247803},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5342326164245605},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.528858482837677},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.49836182594299316},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.42444249987602234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2510251998901367},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15555742383003235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09244471788406372},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09026455879211426}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9246679544448853},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8430007696151733},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.7947276830673218},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7607766389846802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7315278053283691},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7244969606399536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6721566319465637},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5836446285247803},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5342326164245605},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.528858482837677},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.49836182594299316},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.42444249987602234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2510251998901367},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15555742383003235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09244471788406372},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09026455879211426},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre50138.2020.9230158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230158","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1964339024","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W2001427579","https://openalex.org/W2009151941","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2124313187","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2336961836","https://openalex.org/W2344366145","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2565233142","https://openalex.org/W2729161127","https://openalex.org/W2745859992","https://openalex.org/W2807785345","https://openalex.org/W2963542378","https://openalex.org/W2978332301","https://openalex.org/W2999502853","https://openalex.org/W3021409525","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W4206434639","https://openalex.org/W4252201060","https://openalex.org/W4288100565","https://openalex.org/W6769049391"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2980723633","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,14,71,152],"novel":[4],"approach":[5],"for":[6,88],"metric":[7,51,126],"monocular":[8,45,122],"SLAM":[9,17,46,123],"Initialization":[10],"using":[11,19],"keypoints":[12],"and":[13,31,55,84,128],"fiducial":[15,72],"marker.":[16],"approaches":[18,47],"one":[20],"camera":[21],"only":[22],"can":[23,124,132,144],"obtain":[24],"the":[25,32,40,77,85,106,113,129,136],"scale":[26,52,62,87,127,142],"relevant":[27],"to":[28,39,49,59,135],"initial":[29,41,100],"movement":[30],"reference":[33,63],"world":[34,130],"origin":[35,131],"must":[36],"be":[37,97,103,133],"attached":[38],"frame.":[42],"These":[43],"make":[44],"hard":[48],"achieve":[50],"in":[53,64,151],"localization":[54],"navigation":[56],"problems":[57],"or":[58],"provide":[60],"true":[61],"augmented":[65],"reality":[66],"applications.":[67],"In":[68],"this":[69],"paper,":[70],"marker":[73,137],"is":[74],"adopted":[75],"at":[76,112],"initialization":[78],"stage":[79],"of":[80,91,108],"SLAM.":[81],"The":[82,99,141],"relative":[83],"absolute":[86],"3D":[89],"coordinates":[90],"some":[92],"particular":[93],"visual":[94],"features":[95],"would":[96,102],"calculated.":[98],"map":[101],"adjusted":[104],"by":[105],"ratio":[107],"these":[109],"two":[110],"values":[111],"same":[114],"time.":[115],"Our":[116],"experimental":[117],"results":[118],"show":[119],"that":[120],"feature-based":[121],"acquire":[125],"coordinated":[134],"plane":[138],"after":[139],"initialization.":[140],"outputs":[143],"reach":[145],"centimeter":[146],"accuracy":[147],"with":[148],"real-time":[149],"performance":[150],"normal":[153],"computing":[154],"unit.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
