{"id":"https://openalex.org/W2102734568","doi":"https://doi.org/10.1109/cvpr.2010.5539789","title":"Monocular SLAM with locally planar landmarks via geometric rao-blackwellized particle filtering on Lie groups","display_name":"Monocular SLAM with locally planar landmarks via geometric rao-blackwellized particle filtering on Lie groups","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2102734568","doi":"https://doi.org/10.1109/cvpr.2010.5539789","mag":"2102734568"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2010.5539789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5539789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","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/A5038964313","display_name":"Kwon Junghyun","orcid":null},"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":true,"raw_author_name":"Junghyun Kwon","raw_affiliation_strings":["Department of EECS, ASRI, Seoul National University, Seoul, South Korea","Department of EECS, ASRI, Seoul National University, Seoul 151-742, Korea"],"affiliations":[{"raw_affiliation_string":"Department of EECS, ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of EECS, ASRI, Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046504049","display_name":"Kyoung Mu Lee","orcid":"https://orcid.org/0000-0001-7210-1036"},"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":"Kyoung Mu Lee","raw_affiliation_strings":["Department of EECS, ASRI, Seoul National University, Seoul, South Korea","Department of EECS, ASRI, Seoul National University, Seoul 151-742, Korea"],"affiliations":[{"raw_affiliation_string":"Department of EECS, ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of EECS, ASRI, Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038964313"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":103.179,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99799798,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9925000071525574,"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/particle-filter","display_name":"Particle filter","score":0.7201561331748962},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6961532235145569},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.6627990007400513},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.6546159982681274},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6524763107299805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6175211668014526},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5915916562080383},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5586265921592712},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5403329133987427},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.49356257915496826},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.45250168442726135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4327566921710968},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4311811327934265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41059863567352295},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20843401551246643},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.1783260703086853},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15192961692810059},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1278885304927826},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08426326513290405}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7201561331748962},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6961532235145569},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.6627990007400513},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.6546159982681274},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6524763107299805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6175211668014526},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5915916562080383},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5586265921592712},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5403329133987427},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.49356257915496826},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.45250168442726135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4327566921710968},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4311811327934265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41059863567352295},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20843401551246643},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.1783260703086853},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15192961692810059},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1278885304927826},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08426326513290405},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cvpr.2010.5539789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5539789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.3696","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.3696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/publication/conf/2010/GeoSLAM_CVPR2010.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.470.3055","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.470.3055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/jhkwon/data/cvpr10.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.5767","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.5767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/publication/conf/2010/GeoSLAM_CVPR2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1496746912","https://openalex.org/W1866857683","https://openalex.org/W1995985000","https://openalex.org/W2033819227","https://openalex.org/W2035379092","https://openalex.org/W2075500716","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2118428504","https://openalex.org/W2118830119","https://openalex.org/W2123487311","https://openalex.org/W2124081409","https://openalex.org/W2124156864","https://openalex.org/W2124404372","https://openalex.org/W2129086727","https://openalex.org/W2144707556","https://openalex.org/W2147237076","https://openalex.org/W2154202063","https://openalex.org/W2157357823","https://openalex.org/W2165477287","https://openalex.org/W2170353401","https://openalex.org/W2170858806","https://openalex.org/W2171778162","https://openalex.org/W2543580944","https://openalex.org/W6678791982","https://openalex.org/W6685004768"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2125871801","https://openalex.org/W1581933381","https://openalex.org/W1585960250","https://openalex.org/W2123849027","https://openalex.org/W2120540633","https://openalex.org/W2133062384"],"abstract_inverted_index":{"We":[0,16,57],"propose":[1],"a":[2],"novel":[3],"geometric":[4],"Rao-Blackwellized":[5],"particle":[6],"filtering":[7],"framework":[8,81],"for":[9,20,66],"monocular":[10],"SLAM":[11],"with":[12],"locally":[13],"planar":[14],"landmarks.":[15],"represent":[17],"the":[18,21,25,52,60],"states":[19],"camera":[22],"pose":[23],"and":[24,31,70],"landmark":[26,71],"plane":[27],"normal":[28],"as":[29,45],"SE(3)":[30],"SO(3),":[32],"respectively,":[33],"which":[34],"are":[35],"both":[36],"Lie":[37,47,64],"groups.":[38],"The":[39,77],"measurement":[40],"error":[41],"is":[42,82],"also":[43],"represented":[44],"another":[46],"group":[48],"SL(3)":[49],"corresponding":[50],"to":[51],"space":[53],"of":[54,79],"homography":[55],"matrices.":[56],"then":[58],"formulate":[59],"unscented":[61,74],"transformation":[62],"on":[63],"groups":[65],"optimal":[67],"importance":[68],"sampling":[69],"estimation":[72],"via":[73,84],"Kalman":[75],"filter.":[76],"feasibility":[78],"our":[80],"demonstrated":[83],"various":[85],"experiments.":[86]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
