{"id":"https://openalex.org/W2411681238","doi":"https://doi.org/10.1109/icra.2016.7487210","title":"Benefit of large field-of-view cameras for visual odometry","display_name":"Benefit of large field-of-view cameras for visual odometry","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2411681238","doi":"https://doi.org/10.1109/icra.2016.7487210","mag":"2411681238"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066625676","display_name":"Zichao Zhang","orcid":"https://orcid.org/0000-0002-6526-0706"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zichao Zhang","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036775655","display_name":"Henri Rebecq","orcid":"https://orcid.org/0000-0002-6577-9735"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Henri Rebecq","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050501384","display_name":"Christian F\u00f6rster","orcid":"https://orcid.org/0000-0001-7068-2084"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Christian Forster","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":106.4056,"has_fulltext":false,"cited_by_count":146,"citation_normalized_percentile":{"value":0.99968427,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"801","last_page":"808"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/visual-odometry","display_name":"Visual odometry","score":0.792978048324585},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7129107713699341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6777729392051697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6554010510444641},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5818219780921936},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5106115937232971},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32258141040802},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17429685592651367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11685696244239807},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08475890755653381}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.792978048324585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7129107713699341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6777729392051697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6554010510444641},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5818219780921936},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5106115937232971},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32258141040802},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17429685592651367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11685696244239807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08475890755653381},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2016.7487210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:125439","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, Zichao; Rebecq, Henri; Forster, Christian; Scaramuzza, Davide (2016). Benefit of large field-of-view cameras for visual odometry. In: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16 May 2016 - 21 May 2016. Institute of Electrical and Electronics Engineers, 801-808.","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.5167/uzh-125439","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-125439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:125439","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, Zichao; Rebecq, Henri; Forster, Christian; Scaramuzza, Davide (2016). Benefit of large field-of-view cameras for visual odometry. In: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16 May 2016 - 21 May 2016. Institute of Electrical and Electronics Engineers, 801-808.","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8500000238418579,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1498813999","https://openalex.org/W1506818061","https://openalex.org/W1970504153","https://openalex.org/W2001836169","https://openalex.org/W2012508283","https://openalex.org/W2015996585","https://openalex.org/W2026853674","https://openalex.org/W2035379092","https://openalex.org/W2035455072","https://openalex.org/W2039982410","https://openalex.org/W2044542697","https://openalex.org/W2071626497","https://openalex.org/W2088029368","https://openalex.org/W2099343826","https://openalex.org/W2100893637","https://openalex.org/W2102325457","https://openalex.org/W2108134361","https://openalex.org/W2128086777","https://openalex.org/W2138835141","https://openalex.org/W2139834417","https://openalex.org/W2140599684","https://openalex.org/W2151103935","https://openalex.org/W2164934677","https://openalex.org/W2165446656","https://openalex.org/W2166228479","https://openalex.org/W2167777630","https://openalex.org/W2915826462","https://openalex.org/W4298294117","https://openalex.org/W6628708152","https://openalex.org/W6629629270","https://openalex.org/W6759234407"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"The":[0,154],"transition":[1],"of":[2,31,42,51,70,84,97,103],"visual-odometry":[3],"technology":[4],"from":[5],"research":[6],"demonstrators":[7],"to":[8,162],"commercial":[9],"applications":[10],"naturally":[11],"raises":[12],"the":[13,17,29,38,43,68,71,82,85,89,95,98,101,104,124,144],"question:":[14],"\u201cwhat":[15],"is":[16,26,160],"optimal":[18],"camera":[19,32,53,72,167],"for":[20,172,179],"vision-based":[21],"motion":[22,86,102],"estimation?\u201d":[23],"This":[24],"question":[25],"crucial":[27],"as":[28],"choice":[30],"has":[33],"a":[34,52,129,164,176],"tremendous":[35],"impact":[36,69],"on":[37,66,81,94],"robustness":[39],"and":[40,75,100,118,139,151,175],"accuracy":[41],"employed":[44],"visual":[45],"odometry":[46],"algorithm.":[47],"While":[48],"many":[49],"properties":[50],"(e.g.":[54],"resolution,":[55],"frame-rate,":[56],"global-shutter/rolling-shutter)":[57],"could":[58],"be":[59],"considered,":[60],"in":[61,112,148],"this":[62],"work":[63],"we":[64,106,127],"focus":[65],"evaluating":[67],"field-of-view":[73],"(FoV)":[74],"optics":[76],"(i.e.,":[77],"fisheye":[78,138,169],"or":[79,170],"catadioptric)":[80,171],"quality":[83],"estimate.":[87],"Since":[88],"motion-estimation":[90],"performance":[91],"depends":[92],"highly":[93],"geometry":[96],"scene":[99],"camera,":[105],"analyze":[107],"two":[108],"common":[109],"operational":[110],"environments":[111],"mobile":[113],"robotics:":[114],"an":[115,119],"urban":[116,180],"environment":[117],"indoor":[120,173],"scene.":[121],"To":[122],"confirm":[123],"theoretical":[125],"observations,":[126],"implement":[128],"state-of-the-art":[130],"VO":[131,146],"pipeline":[132,147],"that":[133,158],"works":[134],"with":[135],"large":[136,165],"FoV":[137,166,178],"catadioptric":[140],"cameras.":[141],"We":[142],"evaluate":[143],"proposed":[145],"both":[149],"synthetic":[150],"real":[152],"experiments.":[153],"experiments":[155],"point":[156],"out":[157],"it":[159],"advantageous":[161],"use":[163],"(e.g.,":[168],"scenes":[174],"smaller":[177],"canyon":[181],"environments.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
