{"id":"https://openalex.org/W2039175521","doi":"https://doi.org/10.1109/icra.2013.6631242","title":"Stereo vision and IMU based real-time ego-motion and depth image computation on a handheld device","display_name":"Stereo vision and IMU based real-time ego-motion and depth image computation on a handheld device","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2039175521","doi":"https://doi.org/10.1109/icra.2013.6631242","mag":"2039175521"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631242","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/A5088890460","display_name":"Korbinian Schmid","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Korbinian Schmid","raw_affiliation_strings":["Department of Perception and Cognition Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany","Dept. of Perception & Cognition, Robot. & Mechatron. Center, Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Dept. of Perception & Cognition, Robot. & Mechatron. Center, Oberpfaffenhofen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070742471","display_name":"Heiko Hirschm\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heiko Hirschmuller","raw_affiliation_strings":["Department of Perception and Cognition Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany","Dept. of Perception & Cognition, Robot. & Mechatron. Center, Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Dept. of Perception & Cognition, Robot. & Mechatron. Center, Oberpfaffenhofen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4671","last_page":"4678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9988999962806702,"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/odometry","display_name":"Odometry","score":0.8520656228065491},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8192025423049927},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8124830722808838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7317944765090942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7298063039779663},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4846516251564026},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.47418054938316345},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4381939470767975},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.320594847202301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18802720308303833}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8520656228065491},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8192025423049927},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8124830722808838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7317944765090942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7298063039779663},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4846516251564026},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.47418054938316345},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4381939470767975},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.320594847202301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18802720308303833}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6631242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631242","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"},{"id":"pmh:oai:elib.dlr.de:87392","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W768451765","https://openalex.org/W1557515246","https://openalex.org/W1674866864","https://openalex.org/W1854342422","https://openalex.org/W1979843398","https://openalex.org/W1987648924","https://openalex.org/W2013482892","https://openalex.org/W2060794637","https://openalex.org/W2084928969","https://openalex.org/W2108134361","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2113560487","https://openalex.org/W2117174781","https://openalex.org/W2117248802","https://openalex.org/W2128357735","https://openalex.org/W2134837751","https://openalex.org/W2143838684","https://openalex.org/W2154422144","https://openalex.org/W2167896722","https://openalex.org/W2789100425","https://openalex.org/W3144404684","https://openalex.org/W6633617711","https://openalex.org/W6639012427","https://openalex.org/W6748528437"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Real-time":[0],"environmental":[1],"depth":[2,22,121],"perception":[3],"and":[4,32,90,117,137,148,184],"ego-motion":[5,35,128],"estimation":[6],"is":[7,87,153,164],"essential":[8],"for":[9,95,166],"all":[10],"mobile":[11],"robotic":[12],"systems.":[13],"We":[14],"present":[15],"a":[16,55,59,65,111,149,178],"system":[17,105,145,150,167,183],"that":[18,102],"computes":[19],"high":[20,119],"quality":[21,120],"images":[23,122],"with":[24,43,110],"0.5":[25],"MPixel":[26],"resolution":[27],"using":[28],"Semi-Global":[29],"Matching":[30],"(SGM)":[31],"estimates":[33],"the":[34,44,84,103,131,143,156,161,172],"by":[36,188],"key":[37],"frame":[38],"based":[39],"visual":[40,135],"odometry":[41,136],"fused":[42],"data":[45,158],"of":[46,57,83,113,134,142,160,174],"an":[47,70,78],"inertial":[48],"measurement":[49],"unit":[50],"(IMU).":[51],"The":[52,80],"hardware":[53],"includes":[54],"pair":[56],"cameras,":[58],"small":[60],"Intel":[61],"Core2Duo":[62],"CPU":[63],"board,":[64,69],"Spartan":[66],"6":[67],"FPGA":[68],"OMAP3530":[71],"ARM":[72],"processor":[73],"board":[74],"as":[75,77,123,125],"well":[76,124],"IMU.":[79],"total":[81],"weight":[82],"experimental":[85],"setup":[86],"830":[88],"g":[89],"is,":[91],"thus,":[92],"also":[93],"feasible":[94],"hand-held":[96],"or":[97],"flying":[98],"platforms.":[99],"Experiments":[100],"show":[101],"vision":[104,144],"runs":[106],"at":[107,155],"14.6":[108],"Hz":[109],"latency":[112],"around":[114],"250":[115],"ms":[116],"produces":[118],"reliable":[126],"6D":[127],"estimates.":[129],"In":[130],"fusion":[132],"algorithm":[133],"IMU":[138,162],"data,":[139],"time":[140],"delays":[141],"are":[146],"compensated":[147],"state":[151],"estimate":[152],"available":[154],"full":[157],"rate":[159],"which":[163],"important":[165],"control.":[168],"This":[169],"paper":[170],"presents":[171],"integration":[173],"different":[175],"techniques":[176],"into":[177],"fast,":[179],"light":[180],"weight,":[181],"real-time":[182],"validates":[185],"its":[186],"performance":[187],"experiments":[189],"on":[190],"real":[191],"data.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
