{"id":"https://openalex.org/W1918419164","doi":"https://doi.org/10.1109/cvpr.2015.7298772","title":"Robust large scale monocular visual SLAM","display_name":"Robust large scale monocular visual SLAM","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1918419164","doi":"https://doi.org/10.1109/cvpr.2015.7298772","mag":"1918419164"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2015.7298772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7298772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","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/A5044756287","display_name":"Guillaume Bourmaud","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210157089","display_name":"Laboratoire de l'Int\u00e9gration du Mat\u00e9riau au Syst\u00e8me","ror":"https://ror.org/04nabhy78","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210091158","https://openalex.org/I4210095849","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]},{"id":"https://openalex.org/I4210160189","display_name":"Institut Polytechnique de Bordeaux","ror":"https://ror.org/054qv7y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Guillaume Bourmaud","raw_affiliation_strings":["Univ. Bordeaux, Talence, France","Univ. Bordeaux, CNRS, IMS, UMR 5218, F-33400 Talence, France"],"affiliations":[{"raw_affiliation_string":"Univ. Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Univ. Bordeaux, CNRS, IMS, UMR 5218, F-33400 Talence, France","institution_ids":["https://openalex.org/I4210157089","https://openalex.org/I4210160189","https://openalex.org/I1294671590","https://openalex.org/I15057530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089785073","display_name":"R\u00e9mi M\u00e9gret","orcid":"https://orcid.org/0000-0003-0127-5885"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210157089","display_name":"Laboratoire de l'Int\u00e9gration du Mat\u00e9riau au Syst\u00e8me","ror":"https://ror.org/04nabhy78","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210091158","https://openalex.org/I4210095849","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]},{"id":"https://openalex.org/I4210160189","display_name":"Institut Polytechnique de Bordeaux","ror":"https://ror.org/054qv7y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Remi Megret","raw_affiliation_strings":["Univ. Bordeaux, Talence, France","Univ. Bordeaux, CNRS, IMS, UMR 5218, F-33400 Talence, France"],"affiliations":[{"raw_affiliation_string":"Univ. Bordeaux, Talence, France","institution_ids":["https://openalex.org/I15057530"]},{"raw_affiliation_string":"Univ. Bordeaux, CNRS, IMS, UMR 5218, F-33400 Talence, France","institution_ids":["https://openalex.org/I4210157089","https://openalex.org/I4210160189","https://openalex.org/I1294671590","https://openalex.org/I15057530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044756287"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210157089","https://openalex.org/I4210160189"],"apc_list":null,"apc_paid":null,"fwci":13.7832,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.98493588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1638","last_page":"1647"},"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":0.9991000294685364,"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":0.9990000128746033,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7666993141174316},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7491000890731812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6879527568817139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774177551269531},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6773543953895569},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.6078216433525085},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5766746997833252},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5539653301239014},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5414164066314697},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5146561861038208},{"id":"https://openalex.org/keywords/belief-propagation","display_name":"Belief propagation","score":0.46616131067276},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42548099160194397},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42538073658943176},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.417711466550827},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3146752417087555},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19690507650375366},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.18956267833709717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1363796591758728},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11565867066383362}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7666993141174316},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7491000890731812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6879527568817139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774177551269531},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6773543953895569},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.6078216433525085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5766746997833252},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5539653301239014},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5414164066314697},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5146561861038208},{"id":"https://openalex.org/C152948882","wikidata":"https://www.wikidata.org/wiki/Q4060686","display_name":"Belief propagation","level":3,"score":0.46616131067276},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42548099160194397},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42538073658943176},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.417711466550827},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3146752417087555},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19690507650375366},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.18956267833709717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1363796591758728},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11565867066383362},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cvpr.2015.7298772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2015.7298772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322670","display_name":"Tehran University of Medical Sciences and Health Services","ror":"https://ror.org/01c4pz451"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W169439271","https://openalex.org/W612478963","https://openalex.org/W1616969904","https://openalex.org/W1677409904","https://openalex.org/W1823013803","https://openalex.org/W1990884907","https://openalex.org/W1999399477","https://openalex.org/W2011767579","https://openalex.org/W2021851106","https://openalex.org/W2026888851","https://openalex.org/W2045715871","https://openalex.org/W2048228667","https://openalex.org/W2058017216","https://openalex.org/W2064451896","https://openalex.org/W2073660060","https://openalex.org/W2085261163","https://openalex.org/W2107796986","https://openalex.org/W2109635530","https://openalex.org/W2112262632","https://openalex.org/W2115579991","https://openalex.org/W2120353515","https://openalex.org/W2121013842","https://openalex.org/W2128019145","https://openalex.org/W2129000642","https://openalex.org/W2140599684","https://openalex.org/W2143969840","https://openalex.org/W2151290401","https://openalex.org/W2155653863","https://openalex.org/W2157542718","https://openalex.org/W2394800946","https://openalex.org/W2915178317","https://openalex.org/W4236769309","https://openalex.org/W4243216532","https://openalex.org/W6683311863","https://openalex.org/W6712388317","https://openalex.org/W7053107269"],"related_works":["https://openalex.org/W3152713649","https://openalex.org/W3009052662","https://openalex.org/W26187695","https://openalex.org/W2122977448","https://openalex.org/W2124250880","https://openalex.org/W2114758843","https://openalex.org/W2150312244","https://openalex.org/W4301665663","https://openalex.org/W1981023414","https://openalex.org/W2143515091"],"abstract_inverted_index":{"This":[0],"paper":[1,31],"deals":[2],"with":[3],"the":[4,43,55,59,106,110,126,145,155,169,173,176],"trajectory":[5,57],"estimation":[6],"of":[7,29,54,93,100,147,175],"a":[8,14,37,67,73,78,90,98,118,134],"monocular":[9,21],"calibrated":[10],"camera":[11,56],"evolving":[12],"in":[13,144],"large":[15,91],"unknown":[16,60],"environment,":[17],"also":[18,132],"known":[19],"as":[20,160,162],"visual":[22],"simultaneous":[23],"localization":[24],"and":[25,58,108,136,157],"mapping.":[26],"The":[27],"contribution":[28],"this":[30],"is":[32,85],"threefold:":[33],"1)":[34],"We":[35,151],"develop":[36],"new":[38],"formalism":[39],"that":[40,84,141,168],"builds":[41,97],"upon":[42],"so":[44],"called":[45],"Known":[46],"Rotation":[47],"Problem":[48],"to":[49,65,72,87],"robustly":[50],"estimate":[51],"submaps":[52],"(parts":[53],"environment).":[61],"2)":[62],"In":[63],"order":[64],"obtain":[66],"globally":[68],"consistent":[69],"map":[70],"(up":[71],"scale":[74],"factor),":[75],"we":[76,131],"propose":[77,133],"novel":[79],"loopy":[80],"belief":[81],"propagation":[82],"algorithm":[83,140],"able":[86],"efficiently":[88],"align":[89],"number":[92],"submaps.":[94],"Our":[95],"approach":[96],"graph":[99,120,146],"relative":[101,148],"3D":[102,112,149],"similarities":[103,113],"(computed":[104],"between":[105],"submaps)":[107],"estimates":[109],"global":[111],"by":[114],"passing":[115],"messages":[116],"through":[117],"super":[119],"until":[121],"convergence.":[122],"3)":[123],"To":[124],"render":[125],"whole":[127],"framework":[128],"more":[129],"robust,":[130],"simple":[135],"efficient":[137],"outlier":[138],"removal":[139],"detects":[142],"outliers":[143],"similarities.":[150],"extensively":[152],"demonstrate,":[153],"on":[154,163],"TUM":[156],"KITTI":[158],"benchmarks":[159],"well":[161],"other":[164],"challenging":[165],"video":[166],"sequences,":[167],"proposed":[170],"method":[171],"outperforms":[172],"state":[174],"art":[177],"algorithms.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}