{"id":"https://openalex.org/W4247696166","doi":"https://doi.org/10.1109/iccp53602.2021.9733667","title":"Visual Odometry Drift Reduction Based on LiDAR Point Clouds Alignment","display_name":"Visual Odometry Drift Reduction Based on LiDAR Point Clouds Alignment","publication_year":2021,"publication_date":"2021-10-28","ids":{"openalex":"https://openalex.org/W4247696166","doi":"https://doi.org/10.1109/iccp53602.2021.9733667"},"language":"en","primary_location":{"id":"doi:10.1109/iccp53602.2021.9733667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccp53602.2021.9733667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Intelligent Computer Communication and Processing (ICCP)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5079505023","display_name":"C\u0103t\u0103lin-Cosmin Golban","orcid":null},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Catalin-Cosmin Golban","raw_affiliation_strings":["Technical University of Cluj-Napoca,Computer Science Department,Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Computer Science Department,Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067365630","display_name":"Corvin-Petru\u021b Cob\u00e2rzan","orcid":null},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Corvin-Petrut Cobarzan","raw_affiliation_strings":["Technical University of Cluj-Napoca,Computer Science Department,Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Computer Science Department,Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047954457","display_name":"Sergiu Nedevschi","orcid":"https://orcid.org/0000-0003-2018-4647"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Sergiu Nedevschi","raw_affiliation_strings":["Technical University of Cluj-Napoca,Image Processing and Pattern Recognition Group,Romania","Image Processing and Pattern Recognition Group, Technical University of Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Image Processing and Pattern Recognition Group,Romania","institution_ids":["https://openalex.org/I158333966"]},{"raw_affiliation_string":"Image Processing and Pattern Recognition Group, Technical University of Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158333966"],"apc_list":null,"apc_paid":null,"fwci":1.6644,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87140763,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"353","last_page":"358"},"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":0.9994000196456909,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8096412420272827},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7994314432144165},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7420664429664612},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7242164611816406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7056540846824646},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.652920126914978},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6356189846992493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5853511691093445},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.58279949426651},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5153743624687195},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4490514397621155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44358229637145996},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4169842004776001},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4140249490737915},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3581857681274414},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.21922779083251953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17399528622627258},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10837799310684204}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8096412420272827},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7994314432144165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7420664429664612},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7242164611816406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7056540846824646},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.652920126914978},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6356189846992493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5853511691093445},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.58279949426651},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5153743624687195},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4490514397621155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44358229637145996},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4169842004776001},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4140249490737915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3581857681274414},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.21922779083251953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17399528622627258},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10837799310684204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccp53602.2021.9733667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccp53602.2021.9733667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Intelligent Computer Communication and Processing (ICCP)","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":41,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1565206031","https://openalex.org/W1588720062","https://openalex.org/W1617689420","https://openalex.org/W2015996585","https://openalex.org/W2031998160","https://openalex.org/W2036344555","https://openalex.org/W2037050532","https://openalex.org/W2068289541","https://openalex.org/W2069635875","https://openalex.org/W2097197771","https://openalex.org/W2126981150","https://openalex.org/W2137666905","https://openalex.org/W2149109100","https://openalex.org/W2150066425","https://openalex.org/W2160823029","https://openalex.org/W2161779787","https://openalex.org/W2165284796","https://openalex.org/W2166132830","https://openalex.org/W2275442570","https://openalex.org/W2293661915","https://openalex.org/W2296228853","https://openalex.org/W2544243493","https://openalex.org/W2766213449","https://openalex.org/W2883702102","https://openalex.org/W2891899936","https://openalex.org/W2904051629","https://openalex.org/W2946046356","https://openalex.org/W2948440099","https://openalex.org/W2961764720","https://openalex.org/W3108490186","https://openalex.org/W4243425824","https://openalex.org/W4249019454","https://openalex.org/W4300124531","https://openalex.org/W4302337790","https://openalex.org/W6633567737","https://openalex.org/W6679388247","https://openalex.org/W6737309142","https://openalex.org/W6750958682","https://openalex.org/W6762768537","https://openalex.org/W7029321148"],"related_works":["https://openalex.org/W3108490186","https://openalex.org/W1821262254","https://openalex.org/W2554592351","https://openalex.org/W1986336926","https://openalex.org/W2028864324","https://openalex.org/W2523902292","https://openalex.org/W2129498819","https://openalex.org/W4247696166","https://openalex.org/W2734306012","https://openalex.org/W2712366421"],"abstract_inverted_index":{"Visual":[0],"and":[1,16,21,77],"LiDAR":[2,79],"based":[3,71],"odometry":[4],"methods":[5,126],"are":[6],"key":[7],"enablers":[8],"for":[9,54,127],"autonomous":[10],"robots":[11],"sub-problems":[12],"such":[13],"as":[14,95,107],"mapping":[15],"localization":[17],"or":[18],"temporal":[19],"aggregation":[20],"fusion":[22],"of":[23,34,75,85,92,98],"sensor":[24],"data.":[25],"When":[26],"it":[27],"comes":[28],"to":[29,121],"trajectory":[30,64],"reconstruction":[31],"the":[32,46,56,61,73,86,90,93,108,119,129],"errors":[33],"independent":[35],"local":[36],"estimations":[37],"accumulate":[38],"over":[39],"time,":[40],"resulting":[41],"in":[42,69],"overall":[43],"drifts":[44],"from":[45],"real":[47],"trajectory.":[48],"This":[49],"paper":[50],"proposes":[51],"a":[52,96],"method":[53,88],"reducing":[55],"global":[57],"drift":[58],"by":[59],"correcting":[60],"video-based":[62],"frame-to-frame":[63],"estimation":[65],"at":[66],"selected":[67],"points":[68],"time":[70],"on":[72],"alignment":[74],"past":[76],"current":[78],"3D":[80],"measurements.":[81],"The":[82],"main":[83],"strength":[84],"proposed":[87],"is":[89,102,111],"formulation":[91],"problem":[94],"system":[97],"linear":[99],"equations,":[100],"which":[101],"an":[103],"adequate":[104],"numerical":[105],"approximation":[106],"corrective":[109],"component":[110],"small":[112],"enough.":[113],"In":[114],"this":[115],"way":[116],"we":[117],"eliminate":[118],"need":[120],"deploy":[122],"expensive":[123],"non-linear":[124],"optimization":[125],"calculating":[128],"correction":[130],"transform.":[131]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
