{"id":"https://openalex.org/W3012355174","doi":"https://doi.org/10.1109/icra40945.2020.9196670","title":"Active Depth Estimation: Stability Analysis and its Applications","display_name":"Active Depth Estimation: Stability Analysis and its Applications","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3012355174","doi":"https://doi.org/10.1109/icra40945.2020.9196670","mag":"3012355174"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.07137","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087218026","display_name":"R\u00f4mulo T. Rodrigues","orcid":"https://orcid.org/0000-0003-0834-2737"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Romulo T. Rodrigues","raw_affiliation_strings":["Research Center for Systems and Technologies (SYSTEC), Faculty of Engineering, University of Porto, Porto, Portugal","University of Porto"],"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies (SYSTEC), Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016015016","display_name":"Pedro Miraldo","orcid":"https://orcid.org/0000-0002-8551-2448"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT","SE"],"is_corresponding":false,"raw_author_name":"Pedro Miraldo","raw_affiliation_strings":["Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","University of Porto"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"University of Porto","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["PT","SE"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Research Center for Systems and Technologies (SYSTEC), Faculty of Engineering, University of Porto, Porto, Portugal","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies (SYSTEC), Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I182534213"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087218026"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02328134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2002","last_page":"2008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10638","display_name":"Optical measurement and interference techniques","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/estimator","display_name":"Estimator","score":0.6490011811256409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638638973236084},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5987943410873413},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5723024010658264},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5356169939041138},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5314850807189941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4988415241241455},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4862155020236969},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4685453176498413},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.448769748210907},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.44818946719169617},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.42572763562202454},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4244574308395386},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4231153428554535},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.42287513613700867},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29531723260879517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2878999710083008},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1434144675731659},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09228512644767761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0813954770565033}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6490011811256409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638638973236084},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5987943410873413},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5723024010658264},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5356169939041138},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5314850807189941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4988415241241455},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4862155020236969},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4685453176498413},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.448769748210907},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.44818946719169617},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.42572763562202454},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4244574308395386},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4231153428554535},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.42287513613700867},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29531723260879517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2878999710083008},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1434144675731659},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09228512644767761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0813954770565033},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.07137","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.07137","pdf_url":"https://arxiv.org/pdf/2003.07137","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3012355174","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.07137","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.07137","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.07137","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.07137","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.07137","pdf_url":"https://arxiv.org/pdf/2003.07137","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012355174.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W324639438","https://openalex.org/W1487127700","https://openalex.org/W1503172640","https://openalex.org/W2022133743","https://openalex.org/W2040738413","https://openalex.org/W2054289217","https://openalex.org/W2057488855","https://openalex.org/W2058843767","https://openalex.org/W2081061398","https://openalex.org/W2110729215","https://openalex.org/W2118428504","https://openalex.org/W2124313187","https://openalex.org/W2137924757","https://openalex.org/W2139442815","https://openalex.org/W2166306230","https://openalex.org/W2209124607","https://openalex.org/W2471962767","https://openalex.org/W2737883164","https://openalex.org/W2743333470","https://openalex.org/W2919049559","https://openalex.org/W2962926000","https://openalex.org/W2963900470","https://openalex.org/W2972485221","https://openalex.org/W3003818158"],"related_works":["https://openalex.org/W3090176389","https://openalex.org/W2058843767","https://openalex.org/W1592722433","https://openalex.org/W1531227225","https://openalex.org/W2130363675","https://openalex.org/W1992556079","https://openalex.org/W2735684602","https://openalex.org/W1963592164","https://openalex.org/W829776386","https://openalex.org/W2107322951","https://openalex.org/W1509823489","https://openalex.org/W2098324167","https://openalex.org/W2512854393","https://openalex.org/W142075141","https://openalex.org/W2990746055","https://openalex.org/W2800786372","https://openalex.org/W2765374729","https://openalex.org/W2300071923","https://openalex.org/W2096554196","https://openalex.org/W2085349979"],"abstract_inverted_index":{"Recovering":[0],"the":[1,5,22,26,30,41,45,57,77,81,86,90,94,97,100,105,108,111,115,131],"3D":[2,42,112],"structure":[3,43],"of":[4,25,44,51,80,85,89,96,110,128],"surrounding":[6],"environment":[7],"is":[8,60,126],"an":[9],"essential":[10],"task":[11],"in":[12,83,114],"any":[13],"vision-controlled":[14],"Structure-from-Motion":[15],"(SfM)":[16],"scheme.":[17],"This":[18],"paper":[19,75],"focuses":[20],"on":[21,107],"theoretical":[23],"properties":[24],"SfM,":[27],"known":[28,70],"as":[29],"incremental":[31,37],"active":[32],"depth":[33,71],"estimation.":[34],"The":[35,136],"term":[36],"stands":[38],"for":[39],"estimating":[40],"scene":[46],"over":[47],"a":[48,69],"chronological":[49],"sequence":[50],"image":[52,116],"frames.":[53],"Active":[54],"means":[55],"that":[56,62],"camera":[58],"actuation":[59],"such":[61],"it":[63],"improves":[64],"estimation":[65,72],"performance.":[66],"Starting":[67],"from":[68],"filter,":[73],"this":[74],"presents":[76],"stability":[78],"analysis":[79],"filter":[82],"terms":[84],"control":[87],"inputs":[88],"camera.":[91],"By":[92],"analyzing":[93],"convergence":[95],"estimator":[98],"using":[99],"Lyapunov":[101],"theory,":[102],"we":[103],"relax":[104],"constraints":[106],"projection":[109],"point":[113],"plane":[117],"when":[118],"compared":[119],"to":[120],"previous":[121],"results.":[122],"Nonetheless,":[123],"our":[124],"method":[125],"capable":[127],"dealing":[129],"with":[130,143],"cameras'":[132],"limited":[133],"field-of-view":[134],"constraints.":[135],"main":[137],"results":[138],"are":[139],"validated":[140],"through":[141],"experiments":[142],"simulated":[144],"data.":[145]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
