{"id":"https://openalex.org/W3176258611","doi":"https://doi.org/10.1109/icra48506.2021.9561215","title":"Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry","display_name":"Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3176258611","doi":"https://doi.org/10.1109/icra48506.2021.9561215","mag":"3176258611"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5075002150","display_name":"Rui Tian","orcid":"https://orcid.org/0000-0002-8944-1966"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Tian","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072234330","display_name":"Delong Zhu","orcid":"https://orcid.org/0000-0002-1143-7860"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Delong Zhu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, N.T., Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, N.T., Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069490170","display_name":"Shiwen Liang","orcid":"https://orcid.org/0000-0003-2181-126X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwen Liang","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070227862","display_name":"Sonya Coleman","orcid":"https://orcid.org/0000-0002-4676-7640"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sonya Coleman","raw_affiliation_strings":["Ulster University,School of Computing and Intelligent Systems,N. Ireland,UK","School of Computing and Intelligent Systems, Ulster University, N. Ireland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ulster University,School of Computing and Intelligent Systems,N. Ireland,UK","institution_ids":["https://openalex.org/I138801177"]},{"raw_affiliation_string":"School of Computing and Intelligent Systems, Ulster University, N. Ireland, UK","institution_ids":["https://openalex.org/I138801177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015138346","display_name":"Dermot Kerr","orcid":"https://orcid.org/0000-0002-5077-0658"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dermot Kerr","raw_affiliation_strings":["Ulster University,School of Computing and Intelligent Systems,N. Ireland,UK","School of Computing and Intelligent Systems, Ulster University, N. Ireland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ulster University,School of Computing and Intelligent Systems,N. Ireland,UK","institution_ids":["https://openalex.org/I138801177"]},{"raw_affiliation_string":"School of Computing and Intelligent Systems, Ulster University, N. Ireland, UK","institution_ids":["https://openalex.org/I138801177"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":26.3668,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99178536,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5296","last_page":"5302"},"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":0.9997000098228455,"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/T12549","display_name":"Image and Object Detection Techniques","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/ransac","display_name":"RANSAC","score":0.7414373159408569},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7364448308944702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6626502275466919},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.647621750831604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.605299711227417},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5663689374923706},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.563342273235321},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5262352824211121},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5080344676971436},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5076137781143188},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4954479932785034},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3509093225002289},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26595795154571533},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.199294775724411},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09064379334449768}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7414373159408569},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7364448308944702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6626502275466919},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.647621750831604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.605299711227417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5663689374923706},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.563342273235321},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5262352824211121},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5080344676971436},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5076137781143188},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4954479932785034},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3509093225002289},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26595795154571533},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.199294775724411},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09064379334449768},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2007767059","display_name":null,"funder_award_id":"61471110","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W169439271","https://openalex.org/W1545092130","https://openalex.org/W2047692640","https://openalex.org/W2129412583","https://openalex.org/W2147122541","https://openalex.org/W2150066425","https://openalex.org/W2168676389","https://openalex.org/W2292391751","https://openalex.org/W2508409579","https://openalex.org/W2535547924","https://openalex.org/W2536927294","https://openalex.org/W2745859992","https://openalex.org/W2773982915","https://openalex.org/W2779522084","https://openalex.org/W2791412343","https://openalex.org/W2963854007","https://openalex.org/W2982459941","https://openalex.org/W3014771270","https://openalex.org/W3020500358","https://openalex.org/W3084438944","https://openalex.org/W3102327032","https://openalex.org/W3129944514","https://openalex.org/W3132270109","https://openalex.org/W4236769309","https://openalex.org/W6681736998","https://openalex.org/W6782608641"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2106749552","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2093185295","https://openalex.org/W2412578866"],"abstract_inverted_index":{"Scale":[0],"ambiguity":[1],"is":[2,27,116],"a":[3,39,50,61,79,93,105,121,125,134,175],"fundamental":[4],"problem":[5,123],"in":[6,104,153],"monocular":[7],"visual":[8],"odometry.":[9],"Typical":[10],"solutions":[11],"include":[12],"loop":[13,25],"closure":[14,26],"detection":[15],"and":[16,69,92,130],"environment":[17,37],"information":[18],"mining.":[19],"For":[20],"applications":[21],"like":[22],"self-driving":[23],"cars,":[24],"not":[28],"always":[29],"available,":[30],"hence":[31],"mining":[32],"prior":[33],"knowledge":[34],"from":[35],"the":[36,47,54,57,73,89,100,111,114,141,146,163,168,182],"becomes":[38],"more":[40],"promising":[41],"approach.":[42],"In":[43],"this":[44],"paper,":[45],"with":[46],"assumption":[48],"of":[49,53,72,155,178],"constant":[51],"height":[52],"camera":[55],"above":[56],"ground,":[58],"we":[59],"develop":[60],"light-weight":[62,169],"scale":[63,115,137],"recovery":[64],"framework":[65,77,148,172],"leveraging":[66],"an":[67],"accurate":[68,136],"robust":[70,131],"estimation":[71],"ground":[74,80,90,94,102],"plane.":[75],"The":[76],"includes":[78],"point":[81,95],"extraction":[82],"algorithm":[83,97],"for":[84,98],"selecting":[85],"high-quality":[86],"points":[87,103],"on":[88,110,140,162,181],"plane,":[91],"aggregation":[96],"joining":[99],"extracted":[101],"local":[106],"sliding":[107],"window.":[108],"Based":[109],"aggregated":[112],"data,":[113],"finally":[117],"recovered":[118],"by":[119],"solving":[120],"least-squares":[122],"using":[124],"RANSAC-based":[126],"optimizer.":[127],"Sufficient":[128],"data":[129],"optimizer":[132],"enable":[133],"highly":[135],"recovery.":[138],"Experiments":[139],"KITTI":[142],"dataset":[143],"show":[144],"that":[145],"proposed":[147],"can":[149],"achieve":[150],"state-of-the-art":[151],"accuracy":[152],"terms":[154],"translation":[156],"errors,":[157],"while":[158],"maintaining":[159],"competitive":[160],"performance":[161],"rotation":[164],"error.":[165],"Due":[166],"to":[167],"design,":[170],"our":[171],"also":[173],"demonstrates":[174],"high":[176],"frequency":[177],"20":[179],"Hz":[180],"dataset.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
