{"id":"https://openalex.org/W2534097725","doi":"https://doi.org/10.1109/icawst.2011.6163127","title":"3D-laser-based visual odometry for autonomous mobile robot in outdoor environments","display_name":"3D-laser-based visual odometry for autonomous mobile robot in outdoor environments","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2534097725","doi":"https://doi.org/10.1109/icawst.2011.6163127","mag":"2534097725"},"language":"en","primary_location":{"id":"doi:10.1109/icawst.2011.6163127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icawst.2011.6163127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 3rd International Conference on Awareness Science and Technology (iCAST)","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/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["Research Center of Information and Control, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052964187","display_name":"Shengpeng Yang","orcid":"https://orcid.org/0000-0003-4193-3619"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengpeng Yang","raw_affiliation_strings":["Research Center of Information and Control, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101657057","display_name":"Xiaotao Li","orcid":"https://orcid.org/0000-0001-5743-7885"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotao Li","raw_affiliation_strings":["Research Center of Information and Control, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101887938","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-3796-8229"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Research Center of Information and Control, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009698718"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.8559,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.83930652,"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":"133","last_page":"138"},"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9977999925613403,"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":0.8397173881530762},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8276283740997314},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7843217849731445},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7523032426834106},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6906929016113281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6898051500320435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5630227327346802},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5439124703407288},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5418910980224609},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48613688349723816},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4317290186882019},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.367149293422699},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.31079959869384766},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.31021440029144287},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1455214023590088}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8397173881530762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8276283740997314},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7843217849731445},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7523032426834106},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6906929016113281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6898051500320435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5630227327346802},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5439124703407288},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5418910980224609},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48613688349723816},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4317290186882019},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.367149293422699},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.31079959869384766},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.31021440029144287},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1455214023590088}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icawst.2011.6163127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icawst.2011.6163127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 3rd International Conference on Awareness Science and Technology (iCAST)","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":13,"referenced_works":["https://openalex.org/W1988874269","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2071626497","https://openalex.org/W2085261163","https://openalex.org/W2096077837","https://openalex.org/W2098718871","https://openalex.org/W2102145772","https://openalex.org/W2124386111","https://openalex.org/W2151103935","https://openalex.org/W3021282624","https://openalex.org/W3143504974","https://openalex.org/W4243425824"],"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/W1532254823","https://openalex.org/W2412578866","https://openalex.org/W3105866016"],"abstract_inverted_index":{"In":[0],"this":[1,38,102],"paper,":[2],"we":[3,68],"describe":[4],"a":[5,11,31,71],"visual":[6,158],"odometry":[7,159,164],"algorithm":[8,160],"based":[9],"on":[10],"novel":[12],"3D":[13,65,89],"range":[14,23,90],"data":[15,91],"registration":[16,111],"approach":[17,103],"for":[18],"mobile":[19],"robot.":[20],"Considering":[21],"traditional":[22],"image's":[24],"limited":[25],"adaptability":[26],"in":[27,37,113,126],"outdoor":[28],"environment":[29],"representation,":[30],"Bearing":[32,60],"Angle":[33,61],"model":[34],"is":[35,124,165],"used":[36,85],"paper":[39],"so":[40],"that":[41],"local":[42],"SIFT":[43],"(Scale-invariant":[44],"feature":[45],"transform)":[46],"features":[47],"can":[48,69,83,104,133],"be":[49,84,134],"extracted":[50],"and":[51,63,116],"matched":[52],"effectively.":[53],"According":[54],"to":[55,86,94,151],"the":[56,88,95,107,127,138,144,153,156,162],"one-to-one":[57],"correspondence":[58],"between":[59,76],"image":[62],"raw":[64],"laser":[66,80],"data,":[67],"obtain":[70],"group":[72],"of":[73,109,155],"matching":[74],"pairs":[75],"any":[77],"two":[78],"successive":[79],"scans,":[81],"which":[82],"accomplish":[87],"registration.":[92,128,145],"Compared":[93],"conventional":[96],"ICP":[97],"(Iterative":[98],"Closest":[99],"Point)":[100],"algorithm,":[101],"greatly":[105],"improve":[106],"performance":[108],"scan":[110],"both":[112],"computation":[114],"time":[115],"accuracy.":[117],"Furthermore,":[118],"no":[119],"initial":[120],"rough":[121],"pose":[122,140],"estimation":[123],"needed":[125],"The":[129],"frame-to-frame":[130],"motion":[131],"estimate":[132],"performed":[135],"by":[136],"using":[137],"relative":[139],"estimations":[141],"resulting":[142],"from":[143],"Finally,":[146],"experimental":[147],"results":[148],"are":[149],"provided":[150],"demonstrate":[152],"effectiveness":[154],"proposed":[157],"during":[161],"wheel":[163],"unavailable":[166],"or":[167],"GPS":[168],"(Global":[169],"Positioning":[170],"System)":[171],"signal":[172],"outages.":[173]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
