{"id":"https://openalex.org/W4214876051","doi":"https://doi.org/10.1109/imcom53663.2022.9721757","title":"Multiple Frame Integration for Essential Matrix-based Visual Odometry","display_name":"Multiple Frame Integration for Essential Matrix-based Visual Odometry","publication_year":2022,"publication_date":"2022-01-03","ids":{"openalex":"https://openalex.org/W4214876051","doi":"https://doi.org/10.1109/imcom53663.2022.9721757"},"language":"en","primary_location":{"id":"doi:10.1109/imcom53663.2022.9721757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/imcom53663.2022.9721757","pdf_url":null,"source":{"id":"https://openalex.org/S4363608555","display_name":"2022 16th International Conference on Ubiquitous Information Management and Communication (IMCOM)","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":"2022 16th 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":["Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","institution_ids":["https://openalex.org/I131359167"]},{"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":["Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","institution_ids":["https://openalex.org/I131359167"]},{"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":null,"display_name":"Xuan-Phuc 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":"Xuan-Phuc Nguyen","raw_affiliation_strings":["Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","institution_ids":["https://openalex.org/I131359167"]},{"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":["Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","institution_ids":["https://openalex.org/I131359167"]},{"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":["Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","Institute of System Integration, Le Quy Don Technical University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Le Quy Don Technical University,Institute of System Integration,Hanoi,Vietnam","institution_ids":["https://openalex.org/I131359167"]},{"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":0.3286,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4364669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"33","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":0.9990000128746033,"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":0.9976000189781189,"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/visual-odometry","display_name":"Visual odometry","score":0.917156457901001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8128288984298706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8087794184684753},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.7550931572914124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6630641222000122},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6591737866401672},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5924041271209717},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5559960603713989},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5220822691917419},{"id":"https://openalex.org/keywords/essential-matrix","display_name":"Essential matrix","score":0.49487966299057007},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4864308834075928},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4718706011772156},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.45353201031684875},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.43309149146080017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3130812644958496},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28638651967048645},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17735320329666138},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07511863112449646}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.917156457901001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8128288984298706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8087794184684753},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7550931572914124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6630641222000122},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6591737866401672},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5924041271209717},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5559960603713989},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5220822691917419},{"id":"https://openalex.org/C49996920","wikidata":"https://www.wikidata.org/wiki/Q17089185","display_name":"Essential matrix","level":5,"score":0.49487966299057007},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4864308834075928},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4718706011772156},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.45353201031684875},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.43309149146080017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3130812644958496},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28638651967048645},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17735320329666138},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07511863112449646},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C22629506","wikidata":"https://www.wikidata.org/wiki/Q7602993","display_name":"State-transition matrix","level":4,"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/imcom53663.2022.9721757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/imcom53663.2022.9721757","pdf_url":null,"source":{"id":"https://openalex.org/S4363608555","display_name":"2022 16th International Conference on Ubiquitous Information Management and Communication (IMCOM)","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":"2022 16th International Conference on Ubiquitous Information Management and Communication (IMCOM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1502820991","https://openalex.org/W1970504153","https://openalex.org/W2012319351","https://openalex.org/W2031998160","https://openalex.org/W2150066425","https://openalex.org/W2464148602","https://openalex.org/W2535547924","https://openalex.org/W2944338991","https://openalex.org/W2963562098","https://openalex.org/W3102327032","https://openalex.org/W3135923011","https://openalex.org/W4243425824"],"related_works":["https://openalex.org/W2361465778","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2350365380","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W4390725214"],"abstract_inverted_index":{"Visual":[0],"odometry":[1,25,51],"(VO)":[2],"is":[3,68,114],"known":[4,36],"as":[5,14,37],"an":[6,76],"essential":[7,77],"part":[8],"of":[9,18,33,55,88,129],"visual":[10,24,50],"SLAM,":[11],"it":[12],"serves":[13],"a":[15,31,44,84,117],"driving":[16],"engine":[17],"various":[19],"autonomous":[20],"navigation":[21],"systems.":[22],"Traditional":[23],"recovers":[26],"the":[27,38,53,66,105,126,130,140,147],"camera":[28,91],"motion":[29],"from":[30,71,100],"pair":[32],"consecutive":[34,90],"images,":[35],"frame-to-frame":[39,72],"approach.":[40],"This":[41],"paper":[42],"introduces":[43],"multiple":[45],"frame":[46,107],"integration":[47],"for":[48,133],"stereo":[49],"with":[52],"aim":[54],"reducing":[56],"drifts":[57],"by":[58,82,143],"refining":[59],"transformation":[60],"and":[61,79,136],"feature":[62,95],"location":[63],"consecutively.":[64],"Firstly,":[65],"rotation":[67,135],"accurately":[69],"estimated":[70],"VO":[73],"based":[74],"on":[75],"matrix":[78],"then":[80],"refined":[81],"utilizing":[83],"loop":[85],"closure":[86],"constraint":[87],"three":[89],"frames.":[92],"Secondly,":[93],"2D":[94],"locations":[96],"gradually":[97],"are":[98],"updated":[99],"their":[101],"corresponding":[102],"points":[103],"in":[104,146],"previous":[106],"through":[108],"epipolar":[109],"constraints.":[110],"An":[111],"experimental":[112,149],"comparison":[113],"conducted":[115],"using":[116],"publicly":[118],"available":[119],"benchmark":[120],"dataset,":[121,123],"KITTI":[122],"which":[124],"reinforces":[125],"accuracy":[127],"improvement":[128],"proposed":[131],"approach":[132],"both":[134],"translation":[137],"compared":[138],"to":[139],"traditional":[141],"approaches":[142],"around":[144],"20%":[145],"same":[148],"conditions.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}