{"id":"https://openalex.org/W2167513452","doi":"https://doi.org/10.1109/icra.2011.5980291","title":"A particle filter for monocular vision-aided odometry","display_name":"A particle filter for monocular vision-aided odometry","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2167513452","doi":"https://doi.org/10.1109/icra.2011.5980291","mag":"2167513452"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5048846273","display_name":"Teddy N. Yap","orcid":null},"institutions":[{"id":"https://openalex.org/I72951846","display_name":"Washington State University","ror":"https://ror.org/05dk0ce17","country_code":"US","type":"education","lineage":["https://openalex.org/I72951846"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Teddy Yap","raw_affiliation_strings":["Washington State University, Pullman"],"affiliations":[{"raw_affiliation_string":"Washington State University, Pullman","institution_ids":["https://openalex.org/I72951846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100443411","display_name":"Mingyang Li","orcid":"https://orcid.org/0000-0002-1854-3076"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyang Li","raw_affiliation_strings":["University of California, Riverside, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasios I. Mourikis","raw_affiliation_strings":["University of California, Riverside, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091230938","display_name":"Christian R. Shelton","orcid":"https://orcid.org/0000-0001-6698-7838"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian R. Shelton","raw_affiliation_strings":["University of California, Riverside, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048846273"],"corresponding_institution_ids":["https://openalex.org/I72951846"],"apc_list":null,"apc_paid":null,"fwci":72.6422,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.99678227,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"45","issue":null,"first_page":"5663","last_page":"5669"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/odometry","display_name":"Odometry","score":0.8294695019721985},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.779075562953949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7410466074943542},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7046241760253906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774073243141174},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6368155479431152},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.613731324672699},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5722970366477966},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.5496120452880859},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5399466156959534},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5354891419410706},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.521266758441925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4591149687767029},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4180673360824585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.399272620677948}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8294695019721985},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.779075562953949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7410466074943542},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7046241760253906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774073243141174},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6368155479431152},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.613731324672699},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5722970366477966},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.5496120452880859},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5399466156959534},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5354891419410706},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.521266758441925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4591149687767029},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4180673360824585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.399272620677948},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.204.6537","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.204.6537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.ucr.edu/%7Ecshelton/papers/docs/icra11.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.261.616","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.261.616","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/%7Emourikis/papers/Yap2011-ICRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W110099284","https://openalex.org/W1643815198","https://openalex.org/W1821262254","https://openalex.org/W2029318526","https://openalex.org/W2085080157","https://openalex.org/W2093378545","https://openalex.org/W2099371695","https://openalex.org/W2101345862","https://openalex.org/W2113243634","https://openalex.org/W2118223742","https://openalex.org/W2121990344","https://openalex.org/W2124313187","https://openalex.org/W2125240024","https://openalex.org/W2130103520","https://openalex.org/W2131598171","https://openalex.org/W2148820580","https://openalex.org/W2166073629","https://openalex.org/W2171778162","https://openalex.org/W4244486013","https://openalex.org/W6601185777","https://openalex.org/W6636906600","https://openalex.org/W6679388247","https://openalex.org/W6682324061"],"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/W2765521311","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016"],"abstract_inverted_index":{"We":[0,75],"propose":[1],"a":[2,38,59],"particle":[3,44,113],"filter-based":[4],"algorithm":[5,15,68],"for":[6,10,41],"monocular":[7],"vision-aided":[8],"odometry":[9,19],"mobile":[11],"robot":[12],"localization.":[13],"The":[14],"fuses":[16],"information":[17],"from":[18,106],"with":[20,83],"observations":[21],"of":[22,34,66,79,97,124,137],"naturally":[23],"occurring":[24],"static":[25],"point":[26],"features":[27],"in":[28,54,72,122,142],"the":[29,43,51,55,61,67,77,80,98,107,112,125,129,133],"environment.":[30],"A":[31],"key":[32],"contribution":[33],"this":[35],"work":[36],"is":[37,116,135],"novel":[39],"approach":[40,81,115,134],"computing":[42],"weights,":[45],"which":[46],"does":[47],"not":[48],"require":[49],"including":[50],"feature":[52],"positions":[53],"state":[56],"vector.":[57],"As":[58],"result,":[60],"computational":[62],"and":[63,91,103],"sample":[64],"complexities":[65],"remain":[69],"low":[70],"even":[71],"feature-dense":[73],"environments.":[74,144],"validate":[76],"effectiveness":[78],"extensively":[82],"both":[84],"simulations":[85],"as":[86,88],"well":[87],"real-world":[89],"data,":[90],"compare":[92],"its":[93],"performance":[94],"against":[95],"that":[96,111,132],"extended":[99],"Kalman":[100],"filter":[101,114],"(EKF)":[102],"FastSLAM.":[104],"Results":[105],"simulation":[108],"tests":[109],"show":[110],"better":[117],"than":[118],"these":[119],"competing":[120],"approaches":[121],"terms":[123],"RMS":[126],"error.":[127],"Moreover,":[128],"experiments":[130],"demonstrate":[131],"capable":[136],"achieving":[138],"good":[139],"localization":[140],"accuracy":[141],"complex":[143]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
