{"id":"https://openalex.org/W4401415500","doi":"https://doi.org/10.1109/icra57147.2024.10610433","title":"Adaptive Outlier Thresholding for Bundle Adjustment in Visual SLAM","display_name":"Adaptive Outlier Thresholding for Bundle Adjustment in Visual SLAM","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415500","doi":"https://doi.org/10.1109/icra57147.2024.10610433"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5056412871","display_name":"Alejandro Fontan","orcid":"https://orcid.org/0000-0002-5909-8415"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alejandro Fontan","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077355742","display_name":"Javier Civera","orcid":"https://orcid.org/0000-0003-1368-1151"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Civera","raw_affiliation_strings":["University of Zaragoza,School of Engineering,Zaragoza,Spain,50009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zaragoza,School of Engineering,Zaragoza,Spain,50009","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]}],"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":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3969","last_page":"3976"},"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":0.9954000115394592,"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":0.9940999746322632,"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/thresholding","display_name":"Thresholding","score":0.8172070980072021},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7220615744590759},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6931852102279663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6320302486419678},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6259495615959167},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5996540784835815},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3597317934036255},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17571064829826355}],"concepts":[{"id":"https://openalex.org/C191178318","wikidata":"https://www.wikidata.org/wiki/Q2256906","display_name":"Thresholding","level":3,"score":0.8172070980072021},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7220615744590759},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6931852102279663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6320302486419678},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6259495615959167},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5996540784835815},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3597317934036255},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17571064829826355}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:251906","is_oa":false,"landing_page_url":"http://purl.org/au-research/grants/arc/FL210100156","pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W1989880412","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2033819227","https://openalex.org/W2052972204","https://openalex.org/W2058009001","https://openalex.org/W2068057901","https://openalex.org/W2085261163","https://openalex.org/W2107402720","https://openalex.org/W2115579991","https://openalex.org/W2120883775","https://openalex.org/W2124313187","https://openalex.org/W2124321582","https://openalex.org/W2127578024","https://openalex.org/W2139834417","https://openalex.org/W2144540691","https://openalex.org/W2144573889","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2738983946","https://openalex.org/W2745859992","https://openalex.org/W2808571300","https://openalex.org/W2898182017","https://openalex.org/W2909147962","https://openalex.org/W2951730755","https://openalex.org/W2963233640","https://openalex.org/W2967352563","https://openalex.org/W2997495511","https://openalex.org/W2998181467","https://openalex.org/W3098250009","https://openalex.org/W3102327032","https://openalex.org/W3106122163","https://openalex.org/W3106458387","https://openalex.org/W3124420883","https://openalex.org/W3157804349","https://openalex.org/W3164088557","https://openalex.org/W3187867541","https://openalex.org/W3193551877","https://openalex.org/W4205487634","https://openalex.org/W4225108957","https://openalex.org/W4226236972","https://openalex.org/W4230766380","https://openalex.org/W4236769309","https://openalex.org/W4243425824","https://openalex.org/W4310373490","https://openalex.org/W4386047831","https://openalex.org/W6800540912"],"related_works":["https://openalex.org/W1542224353","https://openalex.org/W1661087619","https://openalex.org/W2416513692","https://openalex.org/W2751063144","https://openalex.org/W2116854923","https://openalex.org/W2750730210","https://openalex.org/W2236974868","https://openalex.org/W4312766348","https://openalex.org/W4233939244","https://openalex.org/W3098467253"],"abstract_inverted_index":{"State-of-the-art":[0],"V-SLAM":[1],"pipelines":[2],"utilize":[3],"robust":[4],"cost":[5],"functions":[6],"and":[7,25],"outlier":[8,69],"rejection":[9,70],"techniques":[10],"to":[11,21,27,30],"remove":[12],"incorrect":[13],"correspondences.":[14],"However,":[15],"these":[16],"methods":[17,100],"are":[18],"typically":[19],"fine-tuned":[20],"overfit":[22],"certain":[23],"benchmarks":[24],"struggle":[26],"adapt":[28],"effectively":[29],"changes":[31],"in":[32,47,50,101],"the":[33,73,81],"application":[34],"domain":[35],"or":[36],"environmental":[37],"conditions.":[38],"This":[39],"renders":[40],"them":[41],"impractical":[42],"for":[43,67,75],"many":[44],"robotic":[45],"applications":[46],"which":[48],"robustness":[49],"a":[51,63],"wide":[52],"variety":[53],"of":[54],"conditions":[55],"is":[56,107],"essential.":[57],"In":[58],"this":[59],"paper":[60],"we":[61,92],"introduce":[62],"novel":[64],"distribution-based":[65],"approach":[66,96],"online":[68],"that":[71,94],"reduces":[72],"necessity":[74],"scene-specific":[76],"fine-tuning":[77],"while":[78],"simultaneously":[79],"improving":[80],"overall":[82],"SLAM":[83],"performance.":[84],"Through":[85],"experiments":[86],"across":[87],"3":[88],"different":[89],"public":[90],"datasets,":[91],"show":[93],"our":[95],"consistently":[97],"outperforms":[98],"state-of-the-art":[99],"various":[102],"real-world":[103],"settings.":[104],"Our":[105],"code":[106],"available":[108],"at":[109],"https://github.com/alejandrofontan/ORB_SLAM2_Distribution":[110]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
