{"id":"https://openalex.org/W4310969896","doi":"https://doi.org/10.1109/iecon49645.2022.9968660","title":"Confidence Estimator Design for Dynamic Feature Point Removal in Robot Visual-Inertial Odometry","display_name":"Confidence Estimator Design for Dynamic Feature Point Removal in Robot Visual-Inertial Odometry","publication_year":2022,"publication_date":"2022-10-17","ids":{"openalex":"https://openalex.org/W4310969896","doi":"https://doi.org/10.1109/iecon49645.2022.9968660"},"language":"en","primary_location":{"id":"doi:10.1109/iecon49645.2022.9968660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968660","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","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/A5077065536","display_name":"Niraj Reginald","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Niraj Reginald","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081468463","display_name":"Omar Al-Buraiki","orcid":"https://orcid.org/0000-0003-4052-5613"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Omar Al-Buraiki","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Engineering Dept.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023201930","display_name":"Ehsan Hashemi","orcid":"https://orcid.org/0000-0002-6236-7516"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ehsan Hashemi","raw_affiliation_strings":["University of Alberta,Mechanical Engineering Dept.,Edmonton,Canada"],"affiliations":[{"raw_affiliation_string":"University of Alberta,Mechanical Engineering Dept.,Edmonton,Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077065536"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.8322,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.70737939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9994000196456909,"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":0.9983999729156494,"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/odometry","display_name":"Odometry","score":0.8525850772857666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.691020667552948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6851556897163391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6590145826339722},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5865607857704163},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5823147296905518},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5730359554290771},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5513918399810791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4986152648925781},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4354346990585327},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2827940583229065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1653481423854828}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8525850772857666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.691020667552948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6851556897163391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6590145826339722},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5865607857704163},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5823147296905518},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5730359554290771},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5513918399810791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4986152648925781},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4354346990585327},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2827940583229065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1653481423854828},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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":1,"locations":[{"id":"doi:10.1109/iecon49645.2022.9968660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968660","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322675","display_name":"Mitacs","ror":"https://ror.org/00cjrc276"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W605763459","https://openalex.org/W1612997784","https://openalex.org/W2012319351","https://openalex.org/W2033819227","https://openalex.org/W2067981193","https://openalex.org/W2162319917","https://openalex.org/W2163819476","https://openalex.org/W2248805773","https://openalex.org/W2612932523","https://openalex.org/W2736960679","https://openalex.org/W2744990703","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2794198396","https://openalex.org/W2908571003","https://openalex.org/W2909710857","https://openalex.org/W2938170127","https://openalex.org/W2991594552","https://openalex.org/W3076249718","https://openalex.org/W3091667825","https://openalex.org/W3120651375","https://openalex.org/W3130800379","https://openalex.org/W3135716286","https://openalex.org/W6737690173","https://openalex.org/W6790926376"],"related_works":["https://openalex.org/W2414561716","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2981103992","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,19,99,125],"method":[4],"to":[5,46,61,69,97,106,129],"eliminate":[6],"dynamic":[7],"feature":[8,21],"points":[9],"in":[10,38,51],"robot":[11],"motion":[12,35],"estimation":[13],"for":[14],"visual-inertial":[15],"odometry":[16,119],"(VIO)":[17],"via":[18],"geometric":[20],"matching":[22],"confidence":[23,101],"checking":[24],"procedure":[25],"utilizing":[26],"the":[27,39,48,55,63,66,70,74,80,92,109,131,134],"inertial":[28],"measurement":[29],"unit":[30],"(IMU)":[31],"data.":[32],"The":[33],"IMU":[34],"model":[36],"expressed":[37],"camera":[40],"frame":[41],"of":[42,65,133],"reference":[43],"is":[44,59,77,84,104],"used":[45,60,105],"estimate":[47],"fundamental":[49,57,81],"matrix":[50,58,82],"this":[52],"procedure.":[53],"Thereafter,":[54],"estimated":[56],"calculate":[62],"distance":[64,76],"matched":[67,110],"features":[68,111],"epipolar":[71],"line.":[72],"Similarly":[73],"same":[75],"calculated":[78],"using":[79],"that":[83,103],"obtained":[85],"by":[86],"visual":[87],"structure":[88],"from":[89],"motion.":[90],"Then":[91],"two":[93],"distances":[94],"are":[95,112],"compared":[96],"produce":[98],"feature-matching":[100],"measure":[102],"decide":[107],"whether":[108],"static":[113],"or":[114],"dynamic.":[115],"Finally,":[116],"we":[117],"provide":[118],"simulation":[120],"test":[121],"results":[122],"based":[123],"on":[124],"real":[126],"world":[127],"dataset":[128],"show":[130],"effectiveness":[132],"proposed":[135],"method.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-12T23:11:45.498971","created_date":"2025-10-10T00:00:00"}
