{"id":"https://openalex.org/W3160204530","doi":"https://doi.org/10.1109/ecmr50962.2021.9568791","title":"Active Visual SLAM with Independently Rotating Camera","display_name":"Active Visual SLAM with Independently Rotating Camera","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3160204530","doi":"https://doi.org/10.1109/ecmr50962.2021.9568791","mag":"3160204530"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.08958","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090696696","display_name":"Elia Bonetto","orcid":"https://orcid.org/0000-0003-0452-8761"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elia Bonetto","raw_affiliation_strings":["Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068489098","display_name":"Pascal Goldschmid","orcid":"https://orcid.org/0000-0003-4854-1028"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pascal Goldschmid","raw_affiliation_strings":["Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","University of Stuttgart,Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy,Stuttgart,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"University of Stuttgart,Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy,Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065396778","display_name":"Michael J. Black","orcid":"https://orcid.org/0000-0001-6077-4540"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael J. Black","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087038946","display_name":"Aamir Ahmad","orcid":"https://orcid.org/0000-0002-0727-3031"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aamir Ahmad","raw_affiliation_strings":["Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","University of Stuttgart,Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy,Stuttgart,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"University of Stuttgart,Institute for Flight Mechanics and Controls, The Faculty of Aerospace Engineering and Geodesy,Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.04559848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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":0.9965000152587891,"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/computer-vision","display_name":"Computer vision","score":0.6974388957023621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6904500126838684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.675785481929779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6612769961357117},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6294034123420715},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.588336706161499},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.541445791721344},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.49410203099250793},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44887781143188477},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3856060206890106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15938755869865417},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11722496151924133}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6974388957023621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6904500126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.675785481929779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6612769961357117},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6294034123420715},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.588336706161499},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.541445791721344},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.49410203099250793},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44887781143188477},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3856060206890106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15938755869865417},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11722496151924133},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2105.08958","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.08958","pdf_url":"https://arxiv.org/pdf/2105.08958","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3160204530","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2105.08958.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2105.08958","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.08958","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.08958","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.08958","pdf_url":"https://arxiv.org/pdf/2105.08958","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W180379188","https://openalex.org/W1765141538","https://openalex.org/W1953793983","https://openalex.org/W1977164425","https://openalex.org/W2038053759","https://openalex.org/W2075967785","https://openalex.org/W2107815819","https://openalex.org/W2126109311","https://openalex.org/W2135940798","https://openalex.org/W2161434710","https://openalex.org/W2296267969","https://openalex.org/W2403108495","https://openalex.org/W2461937780","https://openalex.org/W2564647408","https://openalex.org/W2594849222","https://openalex.org/W2739036405","https://openalex.org/W2898231767","https://openalex.org/W2967950643","https://openalex.org/W2973864946","https://openalex.org/W3006305332","https://openalex.org/W3090386798","https://openalex.org/W3124420883","https://openalex.org/W3139000454","https://openalex.org/W6607303888","https://openalex.org/W6697114518","https://openalex.org/W6734865934","https://openalex.org/W6792016621"],"related_works":["https://openalex.org/W3208938072","https://openalex.org/W3139000454","https://openalex.org/W2179680635","https://openalex.org/W2004839534","https://openalex.org/W2004522754","https://openalex.org/W2275524535","https://openalex.org/W2967117499","https://openalex.org/W2911830073","https://openalex.org/W2541130553","https://openalex.org/W2588185234","https://openalex.org/W202930927","https://openalex.org/W4722713","https://openalex.org/W2164729770","https://openalex.org/W3132919786","https://openalex.org/W3161675717","https://openalex.org/W3090781369","https://openalex.org/W2606894526","https://openalex.org/W2754450143","https://openalex.org/W2296733864","https://openalex.org/W3202603821"],"abstract_inverted_index":{"In":[0,44],"active":[1,81,131,162],"Visual-SLAM":[2],"(V-SLAM),":[3],"a":[4,129,184],"robot":[5,62,86,145],"relies":[6],"on":[7,60,128],"the":[8,23,31,35,49,61,70,73,76,85,115,121,158,161,167,187],"information":[9,42],"retrieved":[10],"by":[11,52,107],"its":[12,16],"cameras":[13],"to":[14,30,67,100,113,166,177],"control":[15,69],"own":[17],"movements":[18],"for":[19,40,80,134],"autonomous":[20],"mapping":[21],"of":[22,38,72,92,160,186],"environment.":[24],"Cameras":[25],"are":[26,194],"usually":[27],"statically":[28],"linked":[29],"robot\u2019s":[32,110],"body,":[33],"limiting":[34],"extra":[36],"degrees":[37],"freedom":[39,93],"visual":[41],"acquisition.":[43],"this":[45,89,106],"work,":[46],"we":[47],"overcome":[48],"aforementioned":[50],"problem":[51],"introducing":[53],"and":[54,118,137,143,191],"leveraging":[55],"an":[56],"independently":[57],"rotating":[58,84],"camera":[59,116],"base.":[63],"This":[64],"enables":[65],"us":[66],"continuously":[68],"heading":[71],"camera,":[74],"obtaining":[75],"desired":[77],"optimal":[78],"orientation":[79],"V-SLAM,":[82],"without":[83],"itself.":[87],"However,":[88],"additional":[90,95],"degree":[91],"introduces":[94],"estimation":[96],"uncertainties,":[97],"which":[98,182],"need":[99],"be":[101],"accounted":[102],"for.":[103],"We":[104,123,147,169],"do":[105],"extending":[108],"our":[109,125,173],"state":[111,117],"estimate":[112,120],"include":[114],"jointly":[119],"uncertainties.":[122],"develop":[124],"method":[126,174],"based":[127],"state-of-the-art":[130],"V-SLAM":[132],"approach":[133,163],"omnidirectional":[135],"robots":[136],"evaluate":[138],"it":[139],"through":[140],"rigorous":[141],"simulation":[142],"real":[144],"experiments.":[146],"obtain":[148],"more":[149],"accurate":[150],"maps,":[151],"with":[152,164],"lower":[153],"energy":[154],"consumption,":[155],"while":[156],"maintaining":[157],"benefits":[159],"respect":[165],"baseline.":[168],"also":[170],"demonstrate":[171],"how":[172],"easily":[175],"generalizes":[176],"other":[178],"non-omnidirectional":[179],"robotic":[180],"platforms,":[181],"was":[183],"limitation":[185],"previous":[188],"approach.":[189],"Code":[190],"implementation":[192],"details":[193],"provided":[195],"as":[196],"open-source.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}