{"id":"https://openalex.org/W2041657709","doi":"https://doi.org/10.1109/icra.2013.6631106","title":"Distraction suppression for vision-based pose estimation at city scales","display_name":"Distraction suppression for vision-based pose estimation at city scales","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2041657709","doi":"https://doi.org/10.1109/icra.2013.6631106","mag":"2041657709"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5005677895","display_name":"Colin McManus","orcid":null},"institutions":[{"id":"https://openalex.org/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"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":"Colin McManus","raw_affiliation_strings":["Mobile Robotics Group, University of Oxford, Oxford, UK","[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113225139","display_name":"Winston Churchill","orcid":null},"institutions":[{"id":"https://openalex.org/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"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":"Winston Churchill","raw_affiliation_strings":["Mobile Robotics Group, University of Oxford, Oxford, UK","[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008501306","display_name":"Ashley Napier","orcid":null},"institutions":[{"id":"https://openalex.org/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"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":"Ashley Napier","raw_affiliation_strings":["Mobile Robotics Group, University of Oxford, Oxford, UK","[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110724400","display_name":"Ben Davis","orcid":null},"institutions":[{"id":"https://openalex.org/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"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":"Ben Davis","raw_affiliation_strings":["Mobile Robotics Group, University of Oxford, Oxford, UK","[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]","institution_ids":["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/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"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, University of Oxford, Oxford, UK","[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]},{"raw_affiliation_string":"[Mobile Robot. Group, Univ. of Oxford, Oxford, UK]","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.663,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.87758693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3762","last_page":"3769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/distraction","display_name":"Distraction","score":0.9047118425369263},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6467567682266235},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6197041273117065},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5325689911842346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49102091789245605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45183122158050537},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33747705817222595},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20420488715171814},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.15339836478233337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14756524562835693}],"concepts":[{"id":"https://openalex.org/C2776378700","wikidata":"https://www.wikidata.org/wiki/Q3030775","display_name":"Distraction","level":2,"score":0.9047118425369263},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467567682266235},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6197041273117065},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5325689911842346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49102091789245605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45183122158050537},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33747705817222595},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20420488715171814},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.15339836478233337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14756524562835693},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8399999737739563}],"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":29,"referenced_works":["https://openalex.org/W65124300","https://openalex.org/W179122090","https://openalex.org/W1580529010","https://openalex.org/W1912649600","https://openalex.org/W1965428565","https://openalex.org/W1976809435","https://openalex.org/W1985800705","https://openalex.org/W1993267444","https://openalex.org/W2037938259","https://openalex.org/W2039982410","https://openalex.org/W2041232406","https://openalex.org/W2041600899","https://openalex.org/W2067776366","https://openalex.org/W2075726463","https://openalex.org/W2097838991","https://openalex.org/W2100068477","https://openalex.org/W2109770203","https://openalex.org/W2114701396","https://openalex.org/W2120350085","https://openalex.org/W2121274305","https://openalex.org/W2133145258","https://openalex.org/W2140235142","https://openalex.org/W2141720053","https://openalex.org/W2171885832","https://openalex.org/W2536706996","https://openalex.org/W6607182985","https://openalex.org/W6640185247","https://openalex.org/W6660100523","https://openalex.org/W6675141830"],"related_works":["https://openalex.org/W1984342691","https://openalex.org/W2470048815","https://openalex.org/W2324884046","https://openalex.org/W641612223","https://openalex.org/W2906771794","https://openalex.org/W2028203774","https://openalex.org/W4205873045","https://openalex.org/W2736638679","https://openalex.org/W1968716783","https://openalex.org/W4313046826"],"abstract_inverted_index":{"This":[0,22,78],"paper":[1],"is":[2,23,84,98],"concerned":[3],"with":[4,56,88],"the":[5,75,96,115],"problem":[6,26],"of":[7,20,74,95,117],"egomotion":[8],"estimation":[9],"in":[10,43,80,107],"highly":[11],"dynamic,":[12],"heavily":[13],"cluttered":[14],"urban":[15],"environments":[16],"over":[17],"long":[18],"periods":[19],"time.":[21],"a":[24,81,121],"challenging":[25],"for":[27,68],"vision-based":[28],"systems":[29],"because":[30],"extreme":[31,89],"scene":[32,54,76,90],"movement":[33],"caused":[34],"by":[35],"dynamic":[36],"objects":[37,69],"(e.g.,":[38],"enormous":[39],"buses)":[40],"can":[41],"result":[42],"erroneous":[44],"motion":[45],"estimates.":[46],"We":[47,100],"describe":[48],"two":[49],"methods":[50],"that":[51,70,83],"combine":[52],"3D":[53],"priors":[55],"vision":[57],"sensors":[58],"to":[59,86],"generate":[60],"background-likelihood":[61],"images,":[62],"which":[63],"act":[64],"as":[65],"probability":[66],"masks":[67],"are":[71],"not":[72],"part":[73],"prior.":[77],"results":[79,102],"system":[82,124],"able":[85],"cope":[87],"motion,":[91],"even":[92],"when":[93],"most":[94],"image":[97],"obscured.":[99],"present":[101],"on":[103,120],"real":[104],"data":[105],"collected":[106],"central":[108],"London":[109],"during":[110],"rush":[111],"hour":[112],"and":[113],"demonstrate":[114],"benefits":[116],"our":[118],"techniques":[119],"core":[122],"navigation":[123],"-":[125],"visual":[126],"odometry.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}