{"id":"https://openalex.org/W4388727106","doi":"https://doi.org/10.1109/gcce59613.2023.10315486","title":"Efficient Image Aided Odometry Estimation Scheme for LiDAR Camera based SLAM Systems","display_name":"Efficient Image Aided Odometry Estimation Scheme for LiDAR Camera based SLAM Systems","publication_year":2023,"publication_date":"2023-10-10","ids":{"openalex":"https://openalex.org/W4388727106","doi":"https://doi.org/10.1109/gcce59613.2023.10315486"},"language":"en","primary_location":{"id":"doi:10.1109/gcce59613.2023.10315486","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/gcce59613.2023.10315486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 12th Global Conference on Consumer Electronics (GCCE)","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/A5112399036","display_name":"Wei-Sheng Kao","orcid":"https://orcid.org/0009-0002-1675-9225"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Wei-Sheng Kao","raw_affiliation_strings":["National Chung Hsing University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Chung Hsing University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Chung Hsing University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I162838928"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019252212","display_name":"Yin\u2010Tsung Hwang","orcid":"https://orcid.org/0000-0001-9233-0477"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yin-Tsung Hwang","raw_affiliation_strings":["National Chung Hsing University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Chung Hsing University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Chung Hsing University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I162838928"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Chung Hsing University, Taiwan","institution_ids":["https://openalex.org/I162838928"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112399036"],"corresponding_institution_ids":["https://openalex.org/I162838928"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07574744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"115","last_page":"116"},"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":0.9979000091552734,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9968000054359436,"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/point-cloud","display_name":"Point cloud","score":0.7809032797813416},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7436631321907043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6806442141532898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6732902526855469},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6553539037704468},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6418914198875427},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5084375739097595},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.48473498225212097},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4497341215610504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32914572954177856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25791892409324646},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1789848804473877},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09091377258300781}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7809032797813416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7436631321907043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6806442141532898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732902526855469},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6553539037704468},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6418914198875427},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5084375739097595},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.48473498225212097},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4497341215610504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32914572954177856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25791892409324646},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1789848804473877},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09091377258300781},{"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/gcce59613.2023.10315486","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/gcce59613.2023.10315486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 12th Global Conference on Consumer Electronics (GCCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2140711847","https://openalex.org/W2763213405","https://openalex.org/W3126674423","https://openalex.org/W3133216522","https://openalex.org/W4312095939","https://openalex.org/W6745272545"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2739701376","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W4313854656","https://openalex.org/W2303855011","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Odometry":[0,54],"Estimation":[1,55],"is":[2,26,56,130,143,150,155,204],"an":[3,42,163],"essential":[4],"and":[5,17,36,41,139,168],"time-consuming":[6],"module":[7],"in":[8,12,53,70,85,110,145,177,182,201],"SLAM":[9],"systems":[10],"needed":[11],"all":[13],"kinds":[14],"of":[15,121,179],"robots":[16],"AR/VR":[18],"headsets.":[19],"In":[20],"this":[21,122],"paper,":[22],"a":[23,140,158],"LiDar":[24],"camera":[25],"employed":[27,131],"as":[28,82,96],"the":[29,62,67,71,83,86,111,134,180,186,202],"sensing":[30],"device":[31],"to":[32,65,132,196],"capture":[33],"both":[34],"RGB":[35],"laser":[37,77,87,103,136],"point":[38,50,88,112,127,137,184],"cloud":[39,51,89,113],"information":[40],"image":[43,72],"feature":[44,68,93,183],"points":[45,69,78,94,104],"assisted":[46],"scheme":[47,60,64,129],"for":[48],"fast":[49],"matching":[52,90],"presented.":[57],"The":[58,75,107,152,198],"proposed":[59],"applies":[61],"ORB":[63],"determine":[66],"domain":[73],"first.":[74],"corresponding":[76,135],"are":[79],"then":[80],"collected":[81],"seeds":[84],"process.":[91],"These":[92],"serve":[95],"good":[97],"indicators":[98],"where":[99],"more":[100],"structurally":[101],"distinctive":[102],"can":[105,114,191],"occur.":[106],"searching":[108],"space":[109],"be":[115,192],"greatly":[116],"reduced":[117,193],"by":[118],"taking":[119],"advantage":[120],"information.":[123],"An":[124],"iterative":[125],"closest":[126],"(ICP)":[128],"find":[133],"pairs":[138],"transformation":[141],"matrix":[142],"determined":[144],"each":[146],"iteration":[147],"until":[148],"convergence":[149],"reached.":[151],"entire":[153],"system":[154],"setup":[156],"on":[157],"notebook":[159],"computer":[160],"equipped":[161],"with":[162],"Intel":[164],"Core":[165],"i7":[166],"processor":[167],"running":[169],"Ubuntu":[170],"+":[171],"ROS.":[172],"Experimental":[173],"results":[174],"show":[175],"that,":[176],"spite":[178],"overheads":[181],"processing,":[185],"computing":[187],"time":[188],"per":[189],"frame":[190],"from":[194],"45.4ms":[195],"33.2ms.":[197],"trajectory":[199],"deviation,":[200],"meantime,":[203],"nearly":[205],"unnoticeable.":[206]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}