{"id":"https://openalex.org/W2411918187","doi":"https://doi.org/10.1109/icra.2016.7487406","title":"Robust stereo visual odometry through a probabilistic combination of points and line segments","display_name":"Robust stereo visual odometry through a probabilistic combination of points and line segments","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2411918187","doi":"https://doi.org/10.1109/icra.2016.7487406","mag":"2411918187"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487406","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":"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/A5048830936","display_name":"Ruben Gomez-Ojeda","orcid":"https://orcid.org/0000-0002-5338-1746"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Ruben Gomez-Ojeda","raw_affiliation_strings":["Universidad de Malaga, Malaga, Andaluc\u00c3\u00ada, ES"],"affiliations":[{"raw_affiliation_string":"Universidad de Malaga, Malaga, Andaluc\u00c3\u00ada, ES","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["Mapir Group, E.T.S. Ingenier\u00eda de Inform\u00e1tica-Telecomunicaci\u00f3n, Spain"],"affiliations":[{"raw_affiliation_string":"Mapir Group, E.T.S. Ingenier\u00eda de Inform\u00e1tica-Telecomunicaci\u00f3n, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048830936"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":220.8868,"has_fulltext":false,"cited_by_count":104,"citation_normalized_percentile":{"value":0.99961186,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2521","last_page":"2526"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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":0.8414406776428223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8053879737854004},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7453855276107788},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6654277443885803},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6524468660354614},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5346196293830872},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4581003487110138},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3989188075065613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2297646701335907}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8414406776428223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8053879737854004},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7453855276107788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6654277443885803},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6524468660354614},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5346196293830872},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4581003487110138},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3989188075065613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2297646701335907},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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":2,"locations":[{"id":"doi:10.1109/icra.2016.7487406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487406","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:riuma.uma.es:10630/11515","is_oa":false,"landing_page_url":"http://hdl.handle.net/10630/11515","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W612478963","https://openalex.org/W1497879218","https://openalex.org/W1592348498","https://openalex.org/W1661995841","https://openalex.org/W1970504153","https://openalex.org/W1972082000","https://openalex.org/W1989880412","https://openalex.org/W2002644062","https://openalex.org/W2007864137","https://openalex.org/W2008849352","https://openalex.org/W2012319351","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2033819227","https://openalex.org/W2039638466","https://openalex.org/W2053740312","https://openalex.org/W2117228865","https://openalex.org/W2125240024","https://openalex.org/W2140599684","https://openalex.org/W2148202683","https://openalex.org/W2150066425","https://openalex.org/W2160072137","https://openalex.org/W2168676389","https://openalex.org/W2276148615","https://openalex.org/W6618872416","https://openalex.org/W6629718855"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Most":[0],"approaches":[1],"to":[2,29,64,108,121],"stereo":[3,65],"visual":[4,66],"odometry":[5,67],"reconstruct":[6],"the":[7,11,48,52,70,96,127,134],"motion":[8,89],"based":[9,68],"on":[10,69,158],"tracking":[12],"of":[13,19,34,54,72,85,95,99,113,129,139,150],"point":[14,35,74,101],"features":[15],"along":[16],"a":[17,31,61,82,159,167],"sequence":[18],"images.":[20],"However,":[21],"in":[22,81,133,156,176],"low-textured":[23],"scenes":[24],"it":[25,38],"is":[26,90,141],"often":[27],"difficult":[28],"encounter":[30],"large":[32],"set":[33],"features,":[36,114],"or":[37],"may":[39],"happen":[40],"that":[41,51,78,145],"they":[42],"are":[43,118],"not":[44],"well":[45],"distributed":[46],"over":[47],"image,":[49],"so":[50],"behavior":[53],"these":[55],"algorithms":[56],"deteriorates.":[57],"This":[58],"paper":[59],"proposes":[60],"probabilistic":[62,172],"approach":[63],"combination":[71],"both":[73,100,111],"and":[75,102,162],"line":[76,103],"segment":[77,104],"works":[79],"robustly":[80],"wide":[83],"variety":[84],"scenarios.":[86],"The":[87,137],"camera":[88],"recovered":[91],"through":[92],"non-linear":[93],"minimization":[94],"projection":[97],"errors":[98,117,132],"features.":[105],"In":[106],"order":[107],"effectively":[109],"combine":[110],"types":[112],"their":[115,122],"associated":[116],"weighted":[119],"according":[120],"covariance":[123],"matrices,":[124],"computed":[125],"from":[126],"propagation":[128],"Gaussian":[130],"distribution":[131],"sensor":[135],"measurements.":[136],"method,":[138],"course,":[140],"computationally":[142],"more":[143],"expensive":[144],"using":[146],"only":[147],"one":[148],"type":[149],"feature,":[151],"but":[152],"still":[153],"can":[154],"run":[155],"real-time":[157],"standard":[160],"computer":[161],"provides":[163],"interesting":[164],"advantages,":[165],"including":[166],"straightforward":[168],"integration":[169],"into":[170],"any":[171],"framework":[173],"commonly":[174],"employed":[175],"mobile":[177],"robotics.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
