{"id":"https://openalex.org/W2737357060","doi":"https://doi.org/10.1109/icra.2017.7989523","title":"O-POCO: Online point cloud compression mapping for visual odometry and SLAM","display_name":"O-POCO: Online point cloud compression mapping for visual odometry and SLAM","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737357060","doi":"https://doi.org/10.1109/icra.2017.7989523","mag":"2737357060"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989523","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research-information.bris.ac.uk/en/publications/36c328b9-7db6-4a2c-a804-8762b3496601","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048220579","display_name":"Luis Contreras","orcid":"https://orcid.org/0000-0002-7957-4941"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luis Contreras","raw_affiliation_strings":["Department of Computer Science, University of Bristol, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Bristol, United Kingdom","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044824896","display_name":"Walterio Mayol\u2010Cuevas","orcid":"https://orcid.org/0000-0001-8973-1931"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Walterio Mayol-Cuevas","raw_affiliation_strings":["Department of Computer Science, University of Bristol, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Bristol, United Kingdom","institution_ids":["https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36234482"],"apc_list":null,"apc_paid":null,"fwci":22.8334,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.98876573,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4509","last_page":"4514"},"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":0.9993000030517578,"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":0.9986000061035156,"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/point-cloud","display_name":"Point cloud","score":0.7432529926300049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7394953370094299},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6469038724899292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6445194482803345},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5792986154556274},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5361950397491455},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46234503388404846},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.44741928577423096},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4224834740161896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15207207202911377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12870776653289795}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7432529926300049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7394953370094299},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6469038724899292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6445194482803345},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5792986154556274},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5361950397491455},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46234503388404846},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.44741928577423096},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4224834740161896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15207207202911377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12870776653289795},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989523","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"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/36c328b9-7db6-4a2c-a804-8762b3496601","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/36c328b9-7db6-4a2c-a804-8762b3496601","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Contreras Toledo, L A & Mayol-Cuevas, W 2017, O-POCO : Online point cloud compression mapping for visual odometry and SLAM. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989523, Institute of Electrical and Electronics Engineers (IEEE), pp. 4509-4514. https://doi.org/10.1109/ICRA.2017.7989523","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/36c328b9-7db6-4a2c-a804-8762b3496601","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85028006759&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:openaire/36c328b9-7db6-4a2c-a804-8762b3496601","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/36c328b9-7db6-4a2c-a804-8762b3496601","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Contreras Toledo, L A & Mayol-Cuevas, W 2017, O-POCO : Online point cloud compression mapping for visual odometry and SLAM. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989523, Institute of Electrical and Electronics Engineers (IEEE), pp. 4509-4514. https://doi.org/10.1109/ICRA.2017.7989523","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W135467536","https://openalex.org/W153084048","https://openalex.org/W1518680072","https://openalex.org/W1532362218","https://openalex.org/W1562295669","https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W2021542322","https://openalex.org/W2021851106","https://openalex.org/W2109664698","https://openalex.org/W2133844819","https://openalex.org/W2156708579","https://openalex.org/W2198391854","https://openalex.org/W2213420319","https://openalex.org/W2308071406","https://openalex.org/W3103648783","https://openalex.org/W3150224893","https://openalex.org/W6606277630","https://openalex.org/W6631707545"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"O-POCO,":[3],"a":[4,24,72],"visual":[5,58],"odometry":[6],"and":[7,18,30,59,64,70,88,102,104],"SLAM":[8],"system":[9,98],"that":[10,118],"makes":[11],"online":[12,103,120],"decisions":[13],"regarding":[14],"what":[15,19],"to":[16,20,32,51,62,113],"map":[17,38],"ignore.":[21],"It":[22],"takes":[23],"point":[25,54,90],"cloud":[26],"from":[27],"classical":[28],"SfM":[29],"aims":[31],"sample":[33,63],"it":[34],"on-line":[35],"by":[36],"selecting":[37],"features":[39,136],"useful":[40],"for":[41,130,140],"future":[42],"6D":[43],"relocalisation.":[44],"We":[45,68,94],"use":[46],"the":[47,53,66,80,89,127,133],"camera's":[48],"traveled":[49],"trajectory":[50],"compartamentalize":[52],"cloud,":[55],"along":[56],"with":[57],"spatial":[60],"information":[61,76],"compress":[65],"map.":[67],"propose":[69],"evaluate":[71],"number":[73,134],"of":[74,125,135],"different":[75],"layers":[77],"such":[78],"as":[79],"descriptor":[81],"information's":[82],"relative":[83],"entropy,":[84],"map-feature":[85],"occupancy":[86],"grid,":[87],"cloud's":[91],"geometry":[92],"error.":[93],"compare":[95],"our":[96,114,119],"proposed":[97],"against":[99],"both":[100],"SfM,":[101],"offline":[105],"ORB-SLAM":[106],"using":[107],"publicly":[108],"available":[109],"datasets":[110],"in":[111],"addition":[112],"own.":[115],"Results":[116],"show":[117],"compression":[121],"strategy":[122],"is":[123,142],"capable":[124],"outperforming":[126],"baseline":[128],"even":[129],"conditions":[131],"when":[132],"per":[137],"key-frame":[138],"used":[139],"mapping":[141],"four":[143],"times":[144],"less.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}