{"id":"https://openalex.org/W2949481054","doi":"https://doi.org/10.1109/icarsc.2019.8733633","title":"Monocular Visual Odometry Benchmarking and Turn Performance Optimization","display_name":"Monocular Visual Odometry Benchmarking and Turn Performance Optimization","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2949481054","doi":"https://doi.org/10.1109/icarsc.2019.8733633","mag":"2949481054"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2019.8733633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5047226397","display_name":"Andr\u00e9 Aguiar","orcid":"https://orcid.org/0000-0001-6909-0209"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Andre Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057871059","display_name":"Armando Sousa","orcid":"https://orcid.org/0000-0002-0317-4714"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Armando Sousa","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050279632","display_name":"Filipe Neves dos Santos","orcid":"https://orcid.org/0000-0002-8486-6113"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Filipe Neves dos Santos","raw_affiliation_strings":["INESC TEC, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051983588","display_name":"Miguel Oliveira","orcid":"https://orcid.org/0000-0002-9288-5058"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Miguel Oliveira","raw_affiliation_strings":["University of Aveiro, Aveiro, Portugal"],"affiliations":[{"raw_affiliation_string":"University of Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047226397"],"corresponding_institution_ids":["https://openalex.org/I182534213"],"apc_list":null,"apc_paid":null,"fwci":1.1901,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83214685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T12549","display_name":"Image and Object Detection 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.86257004737854},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7669327855110168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7224897146224976},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6782823801040649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6550552845001221},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6168927550315857},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5217151045799255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18489983677864075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1415749490261078}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.86257004737854},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7669327855110168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7224897146224976},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6782823801040649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6550552845001221},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6168927550315857},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5217151045799255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18489983677864075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1415749490261078},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2019.8733633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324421","display_name":"Ag\u00eancia Nacional de Inova\u00e7\u00e3o","ror":"https://ror.org/01mvsby80"},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1545092130","https://openalex.org/W1833874565","https://openalex.org/W1925668245","https://openalex.org/W1975374850","https://openalex.org/W2015996585","https://openalex.org/W2098171705","https://openalex.org/W2108134361","https://openalex.org/W2115579991","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2168676389","https://openalex.org/W2263255823","https://openalex.org/W2293567814","https://openalex.org/W2474281075","https://openalex.org/W2564632156","https://openalex.org/W2621274416","https://openalex.org/W2787750548","https://openalex.org/W2898231767","https://openalex.org/W2911145197","https://openalex.org/W6748257808"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Developing":[0],"ground":[1],"robots":[2],"for":[3],"crop":[4],"monitoring":[5],"and":[6,26,46,54,83,106,168,174,194],"harvesting":[7],"in":[8,210],"steep":[9],"slope":[10],"vineyards":[11],"is":[12,88,158],"a":[13,39,123,128,149],"complex":[14],"challenge":[15],"due":[16],"to":[17,49,126],"two":[18,100,186],"main":[19,101],"reasons:":[20],"harsh":[21],"condition":[22],"of":[23,75,135],"the":[24,115,132,170,175,179,191],"terrain":[25],"unstable":[27],"localization":[28,41],"accuracy":[29],"obtained":[30],"with":[31,71,131,178],"Global":[32,50],"Navigation":[33,51],"Satellite":[34,52],"System.":[35],"In":[36,96,109,144],"this":[37,61,110,145],"context,":[38],"reliable":[40],"system":[42],"requires":[43],"an":[44,89],"accurate":[45],"redundant":[47],"information":[48],"System":[53],"wheel":[55],"odometry":[56],"based":[57],"system.":[58],"To":[59,118],"pursue":[60],"goal":[62],"we":[63,112,121,147],"benchmark":[64],"3":[65],"well":[66],"known":[67],"Visual":[68,79,91,98,137,162,207],"Odometry":[69,80,92,163,208],"methods":[70,173,177],"2":[72],"datasets.":[73],"Two":[74],"these":[76],"are":[77,189],"feature-based":[78],"algorithms:":[81],"Libviso2":[82],"SVO":[84],"2.0.":[85],"The":[86],"third":[87],"appearance-based":[90],"algorithm":[93],"called":[94],"DSO.":[95],"monocular":[97,136],"Odometry,":[99,138],"problems":[102],"appear:":[103],"pure":[104],"rotations":[105],"scale":[107],"estimation.":[108],"paper,":[111],"focus":[113],"on":[114],"first":[116],"issue.":[117],"do":[119],"so,":[120],"propose":[122,148],"Kalman":[124,182,203],"Filter":[125,204],"fuse":[127],"single":[129],"gyroscope":[130],"output":[133],"pose":[134],"while":[139],"estimating":[140],"gyroscope's":[141],"bias":[142,156],"continuously.":[143],"approach":[146],"non-linear":[150],"noise":[151],"variation":[152],"that":[153,155,200],"ensures":[154],"estimation":[157],"not":[159],"affected":[160],"by":[161],"resultant":[164],"rotations.":[165],"We":[166],"compare":[167],"discuss":[169],"three":[171,176],"unchanged":[172],"proposed":[180],"additional":[181,202],"Filter.":[183],"For":[184],"tests,":[185],"public":[187],"datasets":[188],"used:":[190],"Kitti":[192],"dataset":[193],"another":[195],"built":[196],"in-house.":[197],"Results":[198],"show":[199],"our":[201],"highly":[205],"improves":[206],"performance":[209],"rotation":[211],"movements.":[212]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}