{"id":"https://openalex.org/W2067776366","doi":"https://doi.org/10.1109/icra.2012.6224750","title":"LAPS - localisation using appearance of prior structure: 6-DoF monocular camera localisation using prior pointclouds","display_name":"LAPS - localisation using appearance of prior structure: 6-DoF monocular camera localisation using prior pointclouds","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2067776366","doi":"https://doi.org/10.1109/icra.2012.6224750","mag":"2067776366"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5043487216","display_name":"Alexander D. Stewart","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alexander D. Stewart","raw_affiliation_strings":["Mobile Robotics Group, Department of Engineering Science, Oxford University, UK"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Department of Engineering Science, Oxford University, UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055299977","display_name":"Paul Newman","orcid":"https://orcid.org/0000-0001-6562-8454"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Newman","raw_affiliation_strings":["Mobile Robotics Group, Department of Engineering Science, Oxford University, UK"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Department of Engineering Science, Oxford University, UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043487216"],"corresponding_institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":9.17273657,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.98521758,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2625","last_page":"2632"},"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/T12549","display_name":"Image and Object Detection Techniques","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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8505076766014099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8025248646736145},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7711289525032043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858605146408081},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6609885692596436},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6435809135437012},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6428439617156982},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5018045902252197},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.42213913798332214},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.170576810836792},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1611899733543396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08866709470748901}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8505076766014099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8025248646736145},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7711289525032043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858605146408081},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6609885692596436},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6435809135437012},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6428439617156982},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5018045902252197},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.42213913798332214},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.170576810836792},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1611899733543396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08866709470748901},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G373928678","display_name":null,"funder_award_id":"EP/J012017/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6834514017","display_name":null,"funder_award_id":"EP/I005021/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1491577501","https://openalex.org/W1548879090","https://openalex.org/W1680848026","https://openalex.org/W1867824895","https://openalex.org/W1968557510","https://openalex.org/W1978338723","https://openalex.org/W1995875735","https://openalex.org/W1997645979","https://openalex.org/W2004269786","https://openalex.org/W2020642148","https://openalex.org/W2033819227","https://openalex.org/W2034432063","https://openalex.org/W2067448964","https://openalex.org/W2080559363","https://openalex.org/W2081594369","https://openalex.org/W2108134361","https://openalex.org/W2113685147","https://openalex.org/W2114988205","https://openalex.org/W2121806728","https://openalex.org/W2124651605","https://openalex.org/W2129941787","https://openalex.org/W2140935196","https://openalex.org/W2141104431","https://openalex.org/W2144221002","https://openalex.org/W2156241772","https://openalex.org/W2156875677","https://openalex.org/W2164980264","https://openalex.org/W2170353401","https://openalex.org/W2406067508","https://openalex.org/W2758107681","https://openalex.org/W2993383518","https://openalex.org/W2996929133","https://openalex.org/W3021282624","https://openalex.org/W4205649593","https://openalex.org/W6639060634"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321","https://openalex.org/W2027891072"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,54],"about":[3],"pose":[4],"estimation":[5],"using":[6,107],"monocular":[7,32],"cameras":[8,33],"with":[9,31,36],"a":[10,15,101,104,111],"3D":[11,38,80],"laser":[12],"pointcloud":[13,106],"as":[14],"workspace":[16],"prior.":[17],"We":[18],"have":[19],"in":[20,25,50],"mind":[21],"autonomous":[22],"transport":[23],"systems":[24],"which":[26,90],"low":[27],"cost":[28],"vehicles":[29],"equipped":[30],"are":[34,88],"furnished":[35],"preprocessed":[37],"lidar":[39,81,105],"workspaces":[40],"surveys.":[41],"Our":[42],"inherently":[43],"cross-modal":[44],"approach":[45,62,96],"offers":[46],"robustness":[47],"to":[48,97],"changes":[49],"scene":[51],"lighting":[52],"and":[53],"computationally":[55],"cheap.":[56],"At":[57],"the":[58,71,77,92,98],"heart":[59],"of":[60,65,70,79,94,100],"our":[61],"lies":[63],"inference":[64],"camera":[66,102],"motion":[67],"by":[68],"minimisation":[69],"Normalised":[72],"Information":[73],"Distance":[74],"(NID)":[75],"between":[76],"appearance":[78],"data":[82,108],"reprojected":[83],"into":[84],"overlapping":[85],"images.":[86],"Results":[87],"presented":[89],"demonstrate":[91],"applicability":[93],"this":[95],"localisation":[99],"against":[103],"gathered":[109],"from":[110],"road":[112],"vehicle.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}