{"id":"https://openalex.org/W2737068486","doi":"https://doi.org/10.1109/icra.2017.7989459","title":"Fast odometry and scene flow from RGB-D cameras based on geometric clustering","display_name":"Fast odometry and scene flow from RGB-D cameras based on geometric clustering","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737068486","doi":"https://doi.org/10.1109/icra.2017.7989459","mag":"2737068486"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5054987598","display_name":"Mariano Jaimez","orcid":"https://orcid.org/0000-0002-1885-2821"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"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":["DE","ES"],"is_corresponding":false,"raw_author_name":"Mariano Jaimez","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Germany","Department of Systems Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Systems Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086140486","display_name":"Christian Kerl","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Kerl","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"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":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["Department of Systems Engineering and Automation, University of M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, University of M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087710605","display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":54.6655,"has_fulltext":false,"cited_by_count":125,"citation_normalized_percentile":{"value":0.99899575,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3992","last_page":"3999"},"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/T10531","display_name":"Advanced Vision and Imaging","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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9990000128746033,"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/computer-vision","display_name":"Computer vision","score":0.8136776685714722},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7938361167907715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7126520872116089},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.641383945941925},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5984739661216736},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5594888925552368},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5473697781562805},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5070784091949463},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4803560972213745},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.46297165751457214},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4510752558708191},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18682578206062317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13249602913856506},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13083592057228088},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0787205696105957}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8136776685714722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7938361167907715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7126520872116089},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.641383945941925},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5984739661216736},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5594888925552368},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5473697781562805},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5070784091949463},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4803560972213745},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.46297165751457214},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4510752558708191},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18682578206062317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13249602913856506},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13083592057228088},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0787205696105957},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W181676623","https://openalex.org/W1495986922","https://openalex.org/W1592348498","https://openalex.org/W1639700302","https://openalex.org/W1932072062","https://openalex.org/W1938204631","https://openalex.org/W1986172167","https://openalex.org/W1987648924","https://openalex.org/W1989218621","https://openalex.org/W1993850091","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2024336175","https://openalex.org/W2044096295","https://openalex.org/W2061244215","https://openalex.org/W2091226544","https://openalex.org/W2126457740","https://openalex.org/W2134134344","https://openalex.org/W2140599684","https://openalex.org/W2159461149","https://openalex.org/W2179541323","https://openalex.org/W2256099243","https://openalex.org/W2296147781","https://openalex.org/W2325034626","https://openalex.org/W2461005315","https://openalex.org/W4243425824","https://openalex.org/W6607385234","https://openalex.org/W6656063324","https://openalex.org/W7073615939"],"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":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"an":[5,20,100,107],"efficient":[6],"solution":[7],"to":[8,27,75],"jointly":[9],"estimate":[10],"the":[11,33,51,62,77,82,88,97],"camera":[12,78,102],"motion":[13,63,79,98],"and":[14,70,94],"a":[15,29,55,114],"piecewise-rigid":[16],"scene":[17,53],"flow":[18],"from":[19,81],"RGB-D":[21,101],"sequence.":[22],"The":[23,90,117],"key":[24],"idea":[25],"is":[26,119],"perform":[28],"two-fold":[30],"segmentation":[31],"of":[32,57,84,99,110],"scene,":[34],"dividing":[35],"it":[36,67],"into":[37,68],"geometric":[38],"clusters":[39,59],"that":[40],"are,":[41],"in":[42,87,103],"turn,":[43],"classified":[44],"as":[45,54],"static":[46,69],"or":[47],"moving":[48],"elements.":[49],"Representing":[50],"dynamic":[52,71,104],"set":[56],"rigid":[58],"drastically":[60],"accelerates":[61],"estimation,":[64],"while":[65],"segmenting":[66],"parts":[72],"allows":[73],"us":[74],"separate":[76],"(odometry)":[80],"rest":[83],"motions":[85],"observed":[86],"scene.":[89],"resulting":[91],"method":[92],"robustly":[93],"accurately":[95],"determines":[96],"environments":[105],"with":[106],"average":[108],"runtime":[109],"80":[111],"milliseconds":[112],"on":[113],"multi-core":[115],"CPU.":[116],"code":[118],"available":[120],"for":[121],"public":[122],"use/test.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
