{"id":"https://openalex.org/W2109679178","doi":"https://doi.org/10.1109/icra.2012.6224767","title":"Simultaneous localization and scene reconstruction with monocular camera","display_name":"Simultaneous localization and scene reconstruction with monocular camera","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2109679178","doi":"https://doi.org/10.1109/icra.2012.6224767","mag":"2109679178"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224767","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":"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/A5102979663","display_name":"Kuo\u2010Chen Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuo-Chen Huang","raw_affiliation_strings":["Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044278469","display_name":"Shih-Huan Tseng","orcid":"https://orcid.org/0000-0003-3572-5274"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shih-Huan Tseng","raw_affiliation_strings":["Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035539804","display_name":"Wei-Hao Mou","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Hao Mou","raw_affiliation_strings":["Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Infonnation Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan Univ., Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Li-Chen Fu","raw_affiliation_strings":["Department of Electrical Engineering, Computer Science and Information Engineering, National Taiwan University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Computer Science and Information Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2102","last_page":"2107"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8165477514266968},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8153401613235474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.791679859161377},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7022517323493958},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.626963198184967},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5284911394119263},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5145365595817566},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4549713432788849},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4528156816959381},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4382888078689575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32132023572921753},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18146881461143494}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8165477514266968},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8153401613235474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.791679859161377},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7022517323493958},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.626963198184967},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5284911394119263},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5145365595817566},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4549713432788849},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4528156816959381},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4382888078689575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32132023572921753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18146881461143494},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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":1,"locations":[{"id":"doi:10.1109/icra.2012.6224767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224767","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":[{"score":0.7400000095367432,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W169439271","https://openalex.org/W1532362218","https://openalex.org/W1995985000","https://openalex.org/W2006368361","https://openalex.org/W2029780423","https://openalex.org/W2044233231","https://openalex.org/W2059496137","https://openalex.org/W2060922083","https://openalex.org/W2073383547","https://openalex.org/W2084446318","https://openalex.org/W2096503284","https://openalex.org/W2102734568","https://openalex.org/W2108565035","https://openalex.org/W2113685147","https://openalex.org/W2118428504","https://openalex.org/W2121013842","https://openalex.org/W2124321582","https://openalex.org/W2129477936","https://openalex.org/W2130103520","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2171778162","https://openalex.org/W2295583866","https://openalex.org/W4236769309","https://openalex.org/W4246483956","https://openalex.org/W6606837808","https://openalex.org/W6631707545","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W3124914020","https://openalex.org/W2141033859","https://openalex.org/W2077542787","https://openalex.org/W2156434174","https://openalex.org/W2936725271","https://openalex.org/W2071701083","https://openalex.org/W2980723633"],"abstract_inverted_index":{"In":[0],"this":[1,39,97],"paper,":[2],"we":[3,119,165],"propose":[4,143],"an":[5,23],"online":[6,156],"scene":[7,27,159],"reconstruction":[8,28],"algorithm":[9,40],"with":[10,25,99,127,160],"monocular":[11,100,114],"camera":[12,46,134],"since":[13],"there":[14],"are":[15],"many":[16,80,92],"advantages":[17,104],"on":[18,84],"modeling":[19],"and":[20,48,107,135,154,192],"visualization":[21],"of":[22,30,38,59,64,81,105,152,182],"environment":[24],"physical":[26],"instead":[29],"resorting":[31],"to":[32,42,56,95,130,148,170,187],"sparse":[33],"3D":[34,51],"points.":[35],"The":[36],"goal":[37],"is":[41,54],"simultaneously":[43,131],"track":[44,132],"the":[45,50,57,69,103,133,150,158,167,177],"position":[47],"map":[49],"environment,":[52],"which":[53,72],"close":[55],"spirit":[58],"visual":[60,65,172],"SLAM.":[61],"There're":[62],"plenty":[63],"SLAM":[66],"algorithms":[67],"in":[68],"current":[70],"literature":[71],"can":[73,195],"provide":[74],"a":[75,121,123,137,144,161,180],"high":[76],"accuracy":[77],"performance,":[78],"but":[79],"them":[82],"rely":[83],"stereo":[85],"cameras.":[86],"It's":[87],"true":[88],"that":[89],"we'll":[90],"face":[91],"more":[93,116],"challenges":[94],"accomplish":[96,171],"task":[98,174],"camera.":[101],"However,":[102],"cheaper":[106],"easier":[108],"deployable":[109],"hardware":[110],"setting":[111],"have":[112,184],"made":[113],"approach":[115,126],"attractive.":[117],"Specifically,":[118],"apply":[120],"maximum":[122],"posteriori":[124],"Bayesian":[125],"optimization":[128],"technique":[129],"build":[136],"dense":[138],"point":[139],"cloud.":[140],"We":[141],"also":[142],"feature":[145],"expansion":[146],"method":[147],"expand":[149],"density":[151],"points,":[153],"then":[155],"reconstruct":[157],"delayed":[162],"approach.":[163],"Furthermore,":[164],"utilize":[166],"reconstructed":[168],"model":[169],"localization":[173],"without":[175],"extracting":[176],"features.":[178],"Finally,":[179],"number":[181],"experiments":[183],"been":[185],"conducted":[186],"validate":[188],"our":[189],"proposed":[190],"approach,":[191],"promising":[193],"performance":[194],"be":[196],"observed.":[197]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}