{"id":"https://openalex.org/W3090045313","doi":"https://doi.org/10.1109/icra40945.2020.9197021","title":"Robust RGB-D Camera Tracking using Optimal Key-frame Selection","display_name":"Robust RGB-D Camera Tracking using Optimal Key-frame Selection","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090045313","doi":"https://doi.org/10.1109/icra40945.2020.9197021","mag":"3090045313"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197021","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":"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/A5101667143","display_name":"Kyung Min Han","orcid":"https://orcid.org/0000-0003-2755-5981"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyung Min Han","raw_affiliation_strings":["Department of computer science and engineering, Ewha womans university, Korea"],"affiliations":[{"raw_affiliation_string":"Department of computer science and engineering, Ewha womans university, Korea","institution_ids":["https://openalex.org/I138925566"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100387388","display_name":"Young J. Kim","orcid":"https://orcid.org/0000-0003-2159-4832"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young J. Kim","raw_affiliation_strings":["Department of computer science and engineering, Ewha womans university, Korea"],"affiliations":[{"raw_affiliation_string":"Department of computer science and engineering, Ewha womans university, Korea","institution_ids":["https://openalex.org/I138925566"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101667143"],"corresponding_institution_ids":["https://openalex.org/I138925566"],"apc_list":null,"apc_paid":null,"fwci":1.0355,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82199372,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6275","last_page":"6281"},"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":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7926089763641357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7879584431648254},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.743529200553894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6894095540046692},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5427007079124451},{"id":"https://openalex.org/keywords/key-frame","display_name":"Key frame","score":0.5051649212837219},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4627068042755127}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7926089763641357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7879584431648254},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.743529200553894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6894095540046692},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5427007079124451},{"id":"https://openalex.org/C2780139006","wikidata":"https://www.wikidata.org/wiki/Q1493902","display_name":"Key frame","level":3,"score":0.5051649212837219},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4627068042755127},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197021","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1484371059","https://openalex.org/W1988874269","https://openalex.org/W1989484209","https://openalex.org/W2010642153","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2049981393","https://openalex.org/W2073660060","https://openalex.org/W2091226544","https://openalex.org/W2099940712","https://openalex.org/W2100529712","https://openalex.org/W2108136994","https://openalex.org/W2126457740","https://openalex.org/W2128019145","https://openalex.org/W2147774191","https://openalex.org/W2153054365","https://openalex.org/W2248884171","https://openalex.org/W2250172176","https://openalex.org/W2489822048","https://openalex.org/W2509493982","https://openalex.org/W2535547924","https://openalex.org/W2580440899","https://openalex.org/W2586756649","https://openalex.org/W2776330782","https://openalex.org/W2898231767","https://openalex.org/W2912583782","https://openalex.org/W2964349441","https://openalex.org/W3102327032","https://openalex.org/W4213187341","https://openalex.org/W4249866455","https://openalex.org/W6724925041","https://openalex.org/W6733626439"],"related_works":["https://openalex.org/W2394005538","https://openalex.org/W2352751678","https://openalex.org/W1614340030","https://openalex.org/W2770593030","https://openalex.org/W2347909549","https://openalex.org/W2810201907","https://openalex.org/W3154990682","https://openalex.org/W855007925","https://openalex.org/W2618671746","https://openalex.org/W2898107007"],"abstract_inverted_index":{"We":[0,132],"propose":[1],"a":[2,79,84,100],"novel":[3],"RGB-D":[4,12],"camera":[5,13,44,110,118,163],"tracking":[6,135],"system":[7,19,136],"that":[8,93,155],"robustly":[9],"reconstructs":[10],"hand-held":[11],"sequences.":[14],"The":[15],"robustness":[16],"of":[17,26,47],"our":[18,27,70,102,134,156],"is":[20],"achieved":[21],"by":[22],"two":[23],"independent":[24],"features":[25],"method:":[28],"adaptive":[29],"visual":[30],"odometry":[31],"(VO)":[32],"and":[33,52,149,152,160],"integer":[34],"programming-based":[35],"key-frame":[36,71],"selection.":[37],"Our":[38],"VO":[39,50],"method":[40,73,103,157],"adaptively":[41],"interpolates":[42],"the":[43,48,53,109,130],"motion":[45],"results":[46,62],"direct":[49],"(DVO)":[51],"iterative":[54],"closed":[55],"point":[56],"(ICP)":[57],"to":[58,112,116,128],"yield":[59],"more":[60,161],"optimal":[61],"than":[63,88,166],"existing":[64],"methods":[65,95],"such":[66,120,145],"as":[67,121,146],"Elastic-Fusion.":[68],"Moreover,":[69],"selection":[72],"locates":[74],"globally":[75],"optimum":[76],"key-frames":[77],"using":[78],"comprehensive":[80],"objective":[81],"function":[82],"in":[83],"deterministic":[85],"manner":[86],"rather":[87],"heuristic":[89],"or":[90],"experience-based":[91],"rules":[92],"prior":[94],"mostly":[96],"rely":[97],"on.":[98],"As":[99],"result,":[101],"can":[104],"complete":[105],"reconstruction":[106],"even":[107],"if":[108],"fails":[111],"be":[113],"tracked":[114],"due":[115],"discontinuous":[117],"motions,":[119],"kidnap":[122],"events,":[123],"when":[124],"conventional":[125],"systems":[126],"need":[127],"backtrack":[129],"scene.":[131],"validated":[133],"on":[137],"25":[138],"TUM":[139],"benchmark":[140],"sequences":[141],"against":[142],"state-of-the-art":[143],"works,":[144],"ORBSLAM2,":[147],"Elastic-Fusion,":[148],"DVO":[150],"SLAM,":[151],"experimentally":[153],"showed":[154],"has":[158],"smaller":[159],"robust":[162],"trajectory":[164],"errors":[165],"these":[167],"systems.":[168]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}