{"id":"https://openalex.org/W2766567880","doi":"https://doi.org/10.1109/icinfa.2017.8078992","title":"Monocular ORB SLAM based on initialization by marker pose estimation","display_name":"Monocular ORB SLAM based on initialization by marker pose estimation","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2766567880","doi":"https://doi.org/10.1109/icinfa.2017.8078992","mag":"2766567880"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2017.8078992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2017.8078992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Information and Automation (ICIA)","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/A5015283082","display_name":"Zaihong Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zaihong Xiao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327943","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0002-4279-9063"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384655","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0001-9223-2615"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113148811","display_name":"Zhong Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong Wu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Shenzhen Graduate School, Shenzhen, Guangdong Province, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015283082"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0888,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84341976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"31","issue":null,"first_page":"678","last_page":"682"},"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973999857902527,"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/orb","display_name":"Orb (optics)","score":0.8592861890792847},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8567352294921875},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8244655132293701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.749576210975647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7462905049324036},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6348997354507446},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.601313054561615},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5993285179138184},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4878506660461426},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4861554801464081},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.42726951837539673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17689016461372375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12698951363563538},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12383976578712463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10873234272003174},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08992016315460205}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8592861890792847},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8567352294921875},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8244655132293701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.749576210975647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7462905049324036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6348997354507446},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.601313054561615},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5993285179138184},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4878506660461426},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4861554801464081},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.42726951837539673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17689016461372375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12698951363563538},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12383976578712463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10873234272003174},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08992016315460205},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2017.8078992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2017.8078992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Information and Automation (ICIA)","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":16,"referenced_works":["https://openalex.org/W1005008076","https://openalex.org/W1612997784","https://openalex.org/W1915188322","https://openalex.org/W1989484209","https://openalex.org/W2033819227","https://openalex.org/W2038185798","https://openalex.org/W2080823437","https://openalex.org/W2117228865","https://openalex.org/W2143769815","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2151290401","https://openalex.org/W2250172176","https://openalex.org/W2729161127","https://openalex.org/W3103648783","https://openalex.org/W4245583757"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W3192389065","https://openalex.org/W2921358899","https://openalex.org/W4225747367","https://openalex.org/W2793342246","https://openalex.org/W4289530584","https://openalex.org/W4307623796"],"abstract_inverted_index":{"ORB-SLAM":[0,26,96,133],"is":[1,82,87,97,114],"a":[2,53],"feature-based":[3],"simultaneous":[4],"localization":[5,93],"and":[6,18,84],"mapping":[7,17],"(SLAM)":[8],"system.":[9],"It":[10],"has":[11],"achieved":[12],"good":[13],"results":[14,124],"in":[15,62,75,89,117],"tracking,":[16],"loop":[19],"closing.":[20],"However,":[21],"the":[22,28,34,63,69,73,85,100,103,107,111,118,129,135,139],"map":[23,74,130],"created":[24,131],"by":[25,51,132],"with":[27,99,106,134],"monocular":[29,76,136],"camera":[30,137],"can":[31],"not":[32],"get":[33],"real":[35,70,140],"scale.":[36,141],"This":[37],"paper":[38],"presents":[39],"an":[40],"improving":[41],"ORB":[42],"SLAM":[43],"system":[44,66],"that":[45,128],"helps":[46],"to":[47,67],"alleviate":[48],"this":[49,90],"issue":[50],"defining":[52],"baseline":[54],"initialization":[55],"procedure.":[56],"We":[57],"take":[58],"two":[59],"relative":[60],"poses":[61],"marker":[64],"coordinate":[65],"compute":[68],"scale":[71],"of":[72,95,102,120,125],"mode.":[77],"The":[78,92,123],"hardware":[79],"experimental":[80],"platform":[81],"introduced":[83],"algorithm":[86],"proposed":[88],"paper.":[91],"method":[94,101],"compared":[98],"laser":[104],"scanner":[105],"triangulation":[108],"algorithm.":[109],"And":[110],"maximum":[112],"error":[113],"about":[115],"35cm":[116],"range":[119],"12":[121],"meters.":[122],"experiment":[126],"show":[127],"gets":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
