{"id":"https://openalex.org/W2737196286","doi":"https://doi.org/10.1109/icra.2017.7989521","title":"MonoRGBD-SLAM: Simultaneous localization and mapping using both monocular and RGBD cameras","display_name":"MonoRGBD-SLAM: Simultaneous localization and mapping using both monocular and RGBD cameras","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737196286","doi":"https://doi.org/10.1109/icra.2017.7989521","mag":"2737196286"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989521","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/A5011607140","display_name":"Khalid Yousif","orcid":null},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Khalid Yousif","raw_affiliation_strings":["School of Aerospace, Mechanical and Manufacturing Engineering, RMIT University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace, Mechanical and Manufacturing Engineering, RMIT University, Melbourne, Australia","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008067705","display_name":"Yuichi Taguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuichi Taguchi","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL), Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL), Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101811303","display_name":"Srikumar Ramalingam","orcid":"https://orcid.org/0000-0002-2844-4119"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikumar Ramalingam","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL), Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL), Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4495","last_page":"4502"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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":0.9969000220298767,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8420088291168213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8407057523727417},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.8163856267929077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6857240200042725},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5784314274787903},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.552030086517334},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4982137680053711},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4590739905834198},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.4128498435020447},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2569308280944824},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10745325684547424},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07705780863761902}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8420088291168213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8407057523727417},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8163856267929077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6857240200042725},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5784314274787903},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.552030086517334},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4982137680053711},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4590739905834198},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.4128498435020447},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2569308280944824},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10745325684547424},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07705780863761902},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","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":1,"locations":[{"id":"doi:10.1109/icra.2017.7989521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989521","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":[{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315072","display_name":"Mitsubishi Electric Research Laboratories","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1187244281","https://openalex.org/W1532362218","https://openalex.org/W1972822091","https://openalex.org/W1984309565","https://openalex.org/W1987648924","https://openalex.org/W2026179794","https://openalex.org/W2027686841","https://openalex.org/W2029309217","https://openalex.org/W2047692640","https://openalex.org/W2049981393","https://openalex.org/W2064451896","https://openalex.org/W2071398263","https://openalex.org/W2106815954","https://openalex.org/W2108134361","https://openalex.org/W2126457740","https://openalex.org/W2130103520","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2416713641","https://openalex.org/W6618872416","https://openalex.org/W6627862999","https://openalex.org/W6631707545","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2992292799","https://openalex.org/W2487162673","https://openalex.org/W2416513692","https://openalex.org/W2751063144","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2980723633","https://openalex.org/W3203859322","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"RGBD":[0,19,60,82,150,228],"SLAM":[1,29,54],"systems":[2],"have":[3,40,188],"shown":[4],"impressive":[5],"results,":[6],"but":[7,45],"the":[8,41,69,72,109,123,128,133,138,141,157,162,166,170,175,181,196,205,209],"limited":[9],"field":[10],"of":[11,17,71,108,140,169,180,222],"view":[12],"(FOV)":[13],"and":[14,37,62,84,98,106,121,151,154,183],"depth":[15,42],"range":[16,43],"typical":[18],"cameras":[20,36],"still":[21],"cause":[22],"problems":[23],"for":[24,48,67,103,116],"registering":[25],"distant":[26],"frames.":[27],"Monocular":[28],"systems,":[30],"in":[31],"contrast,":[32],"can":[33],"exploit":[34],"wide-angle":[35,64,118],"do":[38],"not":[39],"limitation,":[44],"are":[46,92],"unstable":[47],"textureless":[49],"scenes.":[50],"We":[51,164,199],"present":[52],"a":[53,63,145,219],"system":[55,76,217],"that":[56,187,215],"uses":[57],"both":[58,96],"an":[59,227],"camera":[61,66],"monocular":[65,89,119,152],"combining":[68],"advantages":[70],"two":[73],"sensors.":[74],"Our":[75],"extracts":[77],"3D":[78,233],"point":[79,86],"features":[80,87],"from":[81,88],"frames":[83,153,223],"2D":[85],"frames,":[90,142],"which":[91],"used":[93],"to":[94,131,192,231],"perform":[95,132],"RGBD-to-RGBD":[97],"RGBD-to-monocular":[99,134],"registration.":[100],"To":[101,136],"compensate":[102],"different":[104],"FOV":[105],"resolution":[107],"cameras,":[110],"we":[111,143],"generate":[112],"multiple":[113],"virtual":[114,129],"images":[115,130],"each":[117],"image":[120],"use":[122],"feature":[124],"descriptors":[125],"computed":[126],"on":[127,204],"matches.":[135],"compute":[137,165],"poses":[139,168,190],"construct":[144],"graph":[146,182,206],"where":[147],"nodes":[148,171],"represent":[149],"edges":[155,186],"denote":[156],"pairwise":[158],"registration":[159],"results":[160,213],"between":[161],"nodes.":[163],"global":[167],"by":[172],"first":[173],"finding":[174],"minimum":[176],"spanning":[177],"trees":[178],"(MSTs)":[179],"then":[184],"pruning":[185],"inconsistent":[189],"due":[191],"possible":[193],"mismatches":[194],"using":[195,207,225],"MST":[197],"result.":[198],"finally":[200],"run":[201],"bundle":[202],"adjustment":[203],"all":[208],"consistent":[210],"edges.":[211],"Experimental":[212],"show":[214],"our":[216],"registers":[218],"larger":[220],"number":[221],"than":[224],"only":[226],"camera,":[229],"leading":[230],"larger-scale":[232],"reconstruction.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}