{"id":"https://openalex.org/W1673051050","doi":"https://doi.org/10.1109/icinfa.2015.7279319","title":"A novel approach to improve the precision of monocular visual odometry","display_name":"A novel approach to improve the precision of monocular visual odometry","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1673051050","doi":"https://doi.org/10.1109/icinfa.2015.7279319","mag":"1673051050"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5076994056","display_name":"Xiao Chen","orcid":"https://orcid.org/0000-0001-6451-587X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Xiao","raw_affiliation_strings":["Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","School of Mechanical Engineering and Automation, Shenzhen Graduate School, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Guangdong, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084715042","display_name":"Xiaorui Zhu","orcid":"https://orcid.org/0000-0003-1400-059X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaorui Zhu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Shenzhen Graduate School, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Guangdong, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068336830","display_name":"Wei Feng","orcid":"https://orcid.org/0000-0003-1907-2664"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Wei Feng","raw_affiliation_strings":["Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","Chinese University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066181483","display_name":"Yongsheng Ou","orcid":"https://orcid.org/0000-0003-2998-267X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yongsheng Ou","raw_affiliation_strings":["Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","Chinese University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Biomimetic Systems, Chinese Academy of Sciences, Guangdong, P. R. China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"29","issue":null,"first_page":"392","last_page":"397"},"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":0.9995999932289124,"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":0.9991999864578247,"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/visual-odometry","display_name":"Visual odometry","score":0.843001663684845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8192587494850159},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.806328296661377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122874855995178},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.703945517539978},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6861061453819275},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5363771915435791},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.4675171673297882},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4174187481403351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37643730640411377},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3647676110267639}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.843001663684845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8192587494850159},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.806328296661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122874855995178},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.703945517539978},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6861061453819275},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5363771915435791},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.4675171673297882},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4174187481403351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37643730640411377},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3647676110267639},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1576060955","https://openalex.org/W1596717185","https://openalex.org/W2008983617","https://openalex.org/W2012319351","https://openalex.org/W2038949924","https://openalex.org/W2068423137","https://openalex.org/W2070380640","https://openalex.org/W2073125875","https://openalex.org/W2082701464","https://openalex.org/W2091239784","https://openalex.org/W2092822777","https://openalex.org/W2096488248","https://openalex.org/W2102990061","https://openalex.org/W2125310925","https://openalex.org/W2145519396","https://openalex.org/W2152671441","https://openalex.org/W2152742046","https://openalex.org/W2168676389","https://openalex.org/W2296147781","https://openalex.org/W2372519251","https://openalex.org/W4239510810","https://openalex.org/W4243425824","https://openalex.org/W6634455150","https://openalex.org/W6671094846","https://openalex.org/W6674573486","https://openalex.org/W6682525150"],"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/W4312703710","https://openalex.org/W4386394365"],"abstract_inverted_index":{"Monocular":[0],"visual":[1,48,122,143],"odometry":[2,31,49],"is":[3,61],"an":[4],"active":[5],"research":[6],"topic":[7],"for":[8,46,92],"mobile":[9],"robot":[10],"navigation":[11,123],"due":[12],"to":[13,42,86,121,132],"its":[14],"availability":[15],"and":[16,55],"simpleness.":[17],"However,":[18],"it":[19],"inherently":[20],"suffers":[21],"from":[22],"scale":[23,44],"ambiguity":[24,45],"inherently,":[25],"so":[26],"that":[27,134],"the":[28,76,80,88,93,97,103,139],"precesion":[29],"of":[30,70,95,99,141],"becomes":[32],"poor.":[33],"In":[34],"this":[35,110],"paper,":[36],"we":[37,74],"propose":[38],"a":[39,56,113],"new":[40],"method":[41],"resolve":[43],"monocular":[47,142],"based":[50,62],"on":[51,63],"ground":[52,89],"area":[53],"extraction":[54],"modified":[57,114],"adaptive":[58],"kalman-filter":[59],"which":[60],"Support":[64],"Vector":[65],"Machine":[66],"(SVM).":[67],"Firstly,":[68],"instead":[69],"using":[71,102],"Homography":[72],"directly,":[73],"combine":[75],"Watershed":[77],"Algorithm":[78],"with":[79],"proposed":[81],"Edge":[82],"Expansion":[83],"Method":[84],"(EEM)":[85],"realize":[87],"extraction.":[90],"Secondly,":[91],"purpose":[94],"reducing":[96],"possibility":[98],"divergency":[100],"when":[101],"kalman":[104],"filtering":[105],"algorithm":[106,119],"in":[107,129],"real":[108],"scenes,":[109],"paper":[111],"applies":[112],"SVM-based":[115],"Adaptive":[116],"Kalman":[117],"Filtering":[118],"(SVMAKF)":[120],"area.":[124],"We":[125],"conduct":[126],"some":[127],"experiments":[128],"outdoor":[130],"scenes":[131],"validate":[133],"these":[135],"approaches":[136],"can":[137],"improve":[138],"accuracy":[140],"odometry.":[144]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
