{"id":"https://openalex.org/W2153010888","doi":"https://doi.org/10.1109/efta.2007.4416890","title":"Camera localization and mapping using delayed feature initialization and inverse depth parametrization","display_name":"Camera localization and mapping using delayed feature initialization and inverse depth parametrization","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2153010888","doi":"https://doi.org/10.1109/efta.2007.4416890","mag":"2153010888"},"language":"en","primary_location":{"id":"doi:10.1109/efta.2007.4416890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/efta.2007.4416890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE Conference on Emerging Technologies &amp; Factory Automation (EFTA 2007)","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/A5078394262","display_name":"Rodrigo Mungu\u00eda","orcid":"https://orcid.org/0000-0003-2282-2884"},"institutions":[{"id":"https://openalex.org/I4210136471","display_name":"FC Barcelona","ror":"https://ror.org/04bpz1v84","country_code":"ES","type":"other","lineage":["https://openalex.org/I4210136471"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Rodrigo Munguia","raw_affiliation_strings":["Department of Automatic Control, UPC, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210136471"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056028210","display_name":"Antoni Grau","orcid":"https://orcid.org/0000-0003-4112-3325"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210136471","display_name":"FC Barcelona","ror":"https://ror.org/04bpz1v84","country_code":"ES","type":"other","lineage":["https://openalex.org/I4210136471"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antoni Grau","raw_affiliation_strings":["Department of Automatic Control, UPC, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210136471"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078394262"],"corresponding_institution_ids":["https://openalex.org/I4210136471","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":1.7977,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87769351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"981","last_page":"988"},"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":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9986000061035156,"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/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.9083430767059326},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8895336389541626},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.7202981114387512},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6427553296089172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6157670021057129},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5733103156089783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5288867950439453},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36374402046203613},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30696654319763184},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10788282752037048},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10475987195968628},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07356354594230652}],"concepts":[{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.9083430767059326},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8895336389541626},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.7202981114387512},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6427553296089172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6157670021057129},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5733103156089783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5288867950439453},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36374402046203613},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30696654319763184},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10788282752037048},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10475987195968628},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07356354594230652},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/efta.2007.4416890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/efta.2007.4416890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE Conference on Emerging Technologies &amp; Factory Automation (EFTA 2007)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W145635633","https://openalex.org/W1517129425","https://openalex.org/W1643815198","https://openalex.org/W1977959925","https://openalex.org/W2033819227","https://openalex.org/W2103392688","https://openalex.org/W2108149436","https://openalex.org/W2113243634","https://openalex.org/W2167189677","https://openalex.org/W2171778162","https://openalex.org/W6605864894"],"related_works":["https://openalex.org/W2094872030","https://openalex.org/W2146757636","https://openalex.org/W2099272513","https://openalex.org/W2393324510","https://openalex.org/W3002248669","https://openalex.org/W2155346812","https://openalex.org/W2294490010","https://openalex.org/W2153623964","https://openalex.org/W1504288058","https://openalex.org/W1483001409"],"abstract_inverted_index":{"On-line":[0],"motion":[1],"estimation":[2,87],"of":[3,22,29,40,83,88,95,113],"a":[4,19,81,105],"single":[5],"camera":[6],"moving":[7],"freely":[8],"through":[9],"an":[10,13,53],"environment":[11],"is":[12],"interesting":[14],"and":[15,45,92],"challenging":[16],"problem":[17,79],"with":[18],"wide":[20],"rage":[21],"applications.":[23],"This":[24],"estimate":[25],"position":[26],"from":[27],"measurements":[28],"self-mapped":[30],"natural":[31],"visual":[32],"features":[33,57],"represents":[34],"perhaps":[35],"the":[36,41,76,86,89,93,96,111,114],"more":[37],"difficult":[38],"class":[39],"(SLAM)":[42],"simultaneous":[43],"localization":[44],"mapping":[46],"problem.":[47],"In":[48,98],"this":[49],"paper":[50],"we":[51,101],"show":[52,102],"approach":[54],"for":[55,59,75,85],"delayed":[56,106],"initialization":[58,108],"monocular":[60,77],"SLAM":[61,78],"based":[62],"in":[63,80,117],"inverse":[64],"depth":[65],"parameterization.":[66],"The":[67],"original":[68,115],"undelayed":[69],"aproach":[70],"has":[71],"shown":[72],"good":[73],"results":[74],"scheme":[82],"EKF":[84],"stochastic":[90],"map":[91],"pose":[94],"camera.":[97],"our":[99],"work":[100],"that":[103],"using":[104],"feature":[107],"can":[109],"improve":[110],"performance":[112],"method":[116],"some":[118],"aspects.":[119]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
