{"id":"https://openalex.org/W3135923011","doi":"https://doi.org/10.1109/imcom51814.2021.9377372","title":"A novel translation estimation for essential matrix based stereo visual odometry","display_name":"A novel translation estimation for essential matrix based stereo visual odometry","publication_year":2021,"publication_date":"2021-01-04","ids":{"openalex":"https://openalex.org/W3135923011","doi":"https://doi.org/10.1109/imcom51814.2021.9377372","mag":"3135923011"},"language":"en","primary_location":{"id":"doi:10.1109/imcom51814.2021.9377372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/imcom51814.2021.9377372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 15th International Conference on Ubiquitous Information Management and Communication (IMCOM)","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/A5027675073","display_name":"Huu-Hung Nguyen","orcid":"https://orcid.org/0009-0004-8026-3202"},"institutions":[{"id":"https://openalex.org/I131359167","display_name":"Le Quy Don Technical University","ror":"https://ror.org/04wgyjv21","country_code":"VN","type":"education","lineage":["https://openalex.org/I131359167"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Huu-Hung Nguyen","raw_affiliation_strings":["Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I131359167"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018288074","display_name":"The-Tien Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I131359167","display_name":"Le Quy Don Technical University","ror":"https://ror.org/04wgyjv21","country_code":"VN","type":"education","lineage":["https://openalex.org/I131359167"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"The-Tien Nguyen","raw_affiliation_strings":["Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I131359167"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038113686","display_name":"Manh Cong Tran","orcid":"https://orcid.org/0000-0002-7727-6297"},"institutions":[{"id":"https://openalex.org/I131359167","display_name":"Le Quy Don Technical University","ror":"https://ror.org/04wgyjv21","country_code":"VN","type":"education","lineage":["https://openalex.org/I131359167"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Cong-Manh Tran","raw_affiliation_strings":["Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I131359167"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016902875","display_name":"Kim-Phuong Phung","orcid":null},"institutions":[{"id":"https://openalex.org/I131359167","display_name":"Le Quy Don Technical University","ror":"https://ror.org/04wgyjv21","country_code":"VN","type":"education","lineage":["https://openalex.org/I131359167"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Kim-Phuong Phung","raw_affiliation_strings":["Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I131359167"]}]},{"author_position":"last","author":{"id":null,"display_name":"Quang-Thi Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I131359167","display_name":"Le Quy Don Technical University","ror":"https://ror.org/04wgyjv21","country_code":"VN","type":"education","lineage":["https://openalex.org/I131359167"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Quang-Thi Nguyen","raw_affiliation_strings":["Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I131359167"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027675073"],"corresponding_institution_ids":["https://openalex.org/I131359167"],"apc_list":null,"apc_paid":null,"fwci":2.1895,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9219899,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2","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":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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980999827384949,"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":0.9090268611907959},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.9073807001113892},{"id":"https://openalex.org/keywords/essential-matrix","display_name":"Essential matrix","score":0.842147946357727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8351452350616455},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.81641685962677},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.8076208829879761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6867581009864807},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6856348514556885},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.6537773609161377},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6524477601051331},{"id":"https://openalex.org/keywords/fundamental-matrix","display_name":"Fundamental matrix (linear differential equation)","score":0.614372730255127},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5878213047981262},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4966636300086975},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4966138005256653},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4844353497028351},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.43054622411727905},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.41092804074287415},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.27328813076019287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25801751017570496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20807817578315735},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18644213676452637},{"id":"https://openalex.org/keywords/state-transition-matrix","display_name":"State-transition matrix","score":0.1412895917892456},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.0883965790271759}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9090268611907959},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.9073807001113892},{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.842147946357727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8351452350616455},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.81641685962677},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.8076208829879761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6867581009864807},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6856348514556885},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.6537773609161377},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6524477601051331},{"id":"https://openalex.org/C2780427248","wikidata":"https://www.wikidata.org/wiki/Q17014996","display_name":"Fundamental matrix (linear differential equation)","level":2,"score":0.614372730255127},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5878213047981262},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4966636300086975},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4966138005256653},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4844353497028351},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.43054622411727905},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.41092804074287415},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.27328813076019287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25801751017570496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20807817578315735},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18644213676452637},{"id":"https://openalex.org/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"score":0.1412895917892456},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.0883965790271759},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/imcom51814.2021.9377372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/imcom51814.2021.9377372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 15th International Conference on Ubiquitous Information Management and Communication (IMCOM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1502820991","https://openalex.org/W1829716368","https://openalex.org/W2012319351","https://openalex.org/W2015996585","https://openalex.org/W2031998160","https://openalex.org/W2085261163","https://openalex.org/W2109635530","https://openalex.org/W2139390199","https://openalex.org/W2150066425","https://openalex.org/W2166132830","https://openalex.org/W2168676389","https://openalex.org/W2296147781","https://openalex.org/W2746639518","https://openalex.org/W2903677927","https://openalex.org/W2944338991","https://openalex.org/W3107397301","https://openalex.org/W4243425824","https://openalex.org/W6786781635"],"related_works":["https://openalex.org/W4221132921","https://openalex.org/W4210643770","https://openalex.org/W2040076228","https://openalex.org/W1990472106","https://openalex.org/W2361465778","https://openalex.org/W2350365380","https://openalex.org/W3135923011","https://openalex.org/W11658847","https://openalex.org/W1584173637","https://openalex.org/W2126981150"],"abstract_inverted_index":{"Visual":[0],"Odometry":[1],"(VO)":[2],"plays":[3],"an":[4],"important":[5],"role":[6],"in":[7,161],"autonomous":[8,143],"navigation":[9],"systems":[10],"for":[11,77],"vehicle":[12],"localization.":[13],"For":[14],"traditional":[15,159],"stereo":[16,40,90],"visual":[17],"odometry":[18],"(SVO),":[19],"we":[20],"can":[21],"estimate":[22],"the":[23,39,45,48,59,83,108,116,142,150,162],"rotation":[24,93,114],"and":[25,120],"translation":[26,49,75,117],"of":[27,47,53,61,85,100,103],"camera":[28],"motion":[29],"either":[30],"simultaneously":[31],"or":[32],"separately":[33],"where":[34],"3D":[35,62,86],"information":[36],"reconstructed":[37],"from":[38,89,97],"image":[41,105],"is":[42,56,94,118],"used":[43],"as":[44,64,66,133],"input":[46,134],"estimation.":[50],"The":[51,92,138],"accuracy":[52,156],"pose":[54],"estimation":[55,76],"dependent":[57],"on":[58,107,141],"uncertainty":[60,88],"features":[63,132],"well":[65],"their":[67],"portion":[68],"used.":[69],"This":[70],"paper":[71],"presents":[72],"a":[73,112,125],"novel":[74],"essential":[78,98],"matrix-based":[79],"SVO":[80],"to":[81,158],"avoid":[82],"effectiveness":[84],"feature":[87],"disparity.":[91],"extracted":[95],"accurately":[96,121],"matrix":[99],"each":[101],"pair":[102],"consecutive":[104],"frames":[106],"left":[109],"side;":[110],"with":[111,135],"pre-estimated":[113],"matrix,":[115],"rapidly":[119],"estimated":[122],"by":[123],"solving":[124],"proposed":[126,151],"linear":[127],"closed-form":[128],"only":[129],"using":[130],"2D":[131],"one-point":[136],"RANSAC.":[137],"experimental":[139,164],"results":[140],"driving":[144],"testing":[145],"dataset":[146],"(KITTI)":[147],"indicate":[148],"that":[149],"approach":[152],"enhances":[153],"20":[154],"%":[155],"compared":[157],"approaches":[160],"same":[163],"scenario.":[165]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
