{"id":"https://openalex.org/W1993653559","doi":"https://doi.org/10.1109/ccece.2014.6901080","title":"Robust monocular SLAM using one 3D point","display_name":"Robust monocular SLAM using one 3D point","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1993653559","doi":"https://doi.org/10.1109/ccece.2014.6901080","mag":"1993653559"},"language":"en","primary_location":{"id":"doi:10.1109/ccece.2014.6901080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2014.6901080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE)","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/A5040007011","display_name":"Weiwei Zhao","orcid":"https://orcid.org/0000-0001-8507-1921"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiwei Zhao","raw_affiliation_strings":["Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","Department of Control Science and Engineering, Beijing University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100979363","display_name":"Jinfu Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfu Yang","raw_affiliation_strings":["Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","Department of Control Science and Engineering, Beijing University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102897545","display_name":"Mingai Li","orcid":"https://orcid.org/0000-0003-0718-8555"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingai Li","raw_affiliation_strings":["Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","Department of Control Science and Engineering, Beijing University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100399480","display_name":"Guanghui Wang","orcid":"https://orcid.org/0000-0002-8068-3838"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guanghui Wang","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","Dept. of Systems Design Engineering, University of Waterloo, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Systems Design Engineering, University of Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5040007011"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04816512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.8507609367370605},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.801527738571167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7853238582611084},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.7748939394950867},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.761573314666748},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6555067896842957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.601965606212616},{"id":"https://openalex.org/keywords/essential-matrix","display_name":"Essential matrix","score":0.5952200889587402},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.5610649585723877},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5370185971260071},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5192461013793945},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5160862803459167},{"id":"https://openalex.org/keywords/camera-matrix","display_name":"Camera matrix","score":0.48631247878074646},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.48398303985595703},{"id":"https://openalex.org/keywords/pinhole-camera-model","display_name":"Pinhole camera model","score":0.47207143902778625},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.44122833013534546},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4412226974964142},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4326162338256836},{"id":"https://openalex.org/keywords/fundamental-matrix","display_name":"Fundamental matrix (linear differential equation)","score":0.41155263781547546},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.3557032346725464},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.29170072078704834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28264981508255005},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.2821511924266815},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15766480565071106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08157488703727722}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8507609367370605},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.801527738571167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7853238582611084},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7748939394950867},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.761573314666748},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6555067896842957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.601965606212616},{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.5952200889587402},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.5610649585723877},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5370185971260071},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5192461013793945},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5160862803459167},{"id":"https://openalex.org/C679329","wikidata":"https://www.wikidata.org/wiki/Q5026015","display_name":"Camera matrix","level":5,"score":0.48631247878074646},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.48398303985595703},{"id":"https://openalex.org/C199996500","wikidata":"https://www.wikidata.org/wiki/Q14369636","display_name":"Pinhole camera model","level":4,"score":0.47207143902778625},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.44122833013534546},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4412226974964142},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4326162338256836},{"id":"https://openalex.org/C2780427248","wikidata":"https://www.wikidata.org/wiki/Q17014996","display_name":"Fundamental matrix (linear differential equation)","level":2,"score":0.41155263781547546},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.3557032346725464},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.29170072078704834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28264981508255005},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.2821511924266815},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15766480565071106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08157488703727722},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece.2014.6901080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2014.6901080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE)","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":22,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W169439271","https://openalex.org/W1605255644","https://openalex.org/W1964814179","https://openalex.org/W2033819227","https://openalex.org/W2056358962","https://openalex.org/W2085078372","https://openalex.org/W2102481828","https://openalex.org/W2109635530","https://openalex.org/W2120883775","https://openalex.org/W2121069978","https://openalex.org/W2124313187","https://openalex.org/W2128275197","https://openalex.org/W2130103520","https://openalex.org/W2135542142","https://openalex.org/W2139455974","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W4243425824","https://openalex.org/W6606837808","https://openalex.org/W6678291759","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2361465778","https://openalex.org/W4246872001","https://openalex.org/W2369712603","https://openalex.org/W227461850","https://openalex.org/W1543645489","https://openalex.org/W2391993301","https://openalex.org/W2133597456","https://openalex.org/W3202943920","https://openalex.org/W2374990883","https://openalex.org/W2168983499"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,16,25,43,96,114,135],"motion-model-free":[4],"monocular":[5,20,155],"SLAM":[6,156],"algorithm":[7,117,139],"is":[8,28,87,102,118,140],"proposed":[9,154],"for":[10],"simultaneous":[11],"localization":[12],"and":[13,35,37,42,76,82,110,113,126],"mapping":[14],"of":[15,46,62,79,152],"robotic":[17],"system.":[18],"A":[19],"image":[21],"sequence":[22],"captured":[23],"by":[24,53,129],"calibrated":[26],"camera":[27,40],"the":[29,33,47,54,63,73,80,91,106,122,131,144,150,153],"only":[30],"input":[31],"to":[32,71,89,104,120,142],"system,":[34],"robust":[36,107],"accurate":[38],"frame-to-frame":[39],"poses":[41],"3D":[44,84],"map":[45],"environment":[48],"can":[49],"be":[50],"estimated":[51,123],"automatically":[52],"approach.":[55],"The":[56],"pose":[57],"estimation":[58],"method":[59],"takes":[60],"advantage":[61],"epipolar":[64],"geometry":[65],"in":[66],"structure":[67],"from":[68],"motion":[69],"(SfM)":[70],"recover":[72,90],"rotation":[74,108,124],"matrix":[75,109,125],"translation":[77,93,111,127],"term":[78],"camera,":[81],"one":[83],"reference":[85],"point":[86],"used":[88],"camera's":[92],"distance.":[94],"Then,":[95],"random":[97],"sampling":[98],"consensus":[99],"(RANSAC)":[100],"framework":[101],"employed":[103],"find":[105],"vector,":[112],"nonlinear":[115],"optimization":[116],"applied":[119],"optimize":[121,143],"vector":[128],"minimizing":[130],"projection":[132],"errors.":[133],"Finally,":[134],"local":[136],"bundle":[137],"adjustment":[138],"performed":[141],"results.":[145],"Extensive":[146],"experimental":[147],"evaluations":[148],"demonstrate":[149],"effectiveness":[151],"algorithm.":[157]},"counts_by_year":[],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}