{"id":"https://openalex.org/W3128029751","doi":"https://doi.org/10.1109/ipas50080.2020.9334950","title":"Real time System Implementation for Stereo 3D Mapping and Visual Odometry","display_name":"Real time System Implementation for Stereo 3D Mapping and Visual Odometry","publication_year":2020,"publication_date":"2020-12-09","ids":{"openalex":"https://openalex.org/W3128029751","doi":"https://doi.org/10.1109/ipas50080.2020.9334950","mag":"3128029751"},"language":"en","primary_location":{"id":"doi:10.1109/ipas50080.2020.9334950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipas50080.2020.9334950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 4th International Conference on Image Processing, Applications and Systems (IPAS)","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/A5047742576","display_name":"Yashwant Temburu","orcid":null},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Yashwant Temburu","raw_affiliation_strings":["Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009038525","display_name":"Mandar Datar","orcid":"https://orcid.org/0000-0002-0700-3816"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mandar Datar","raw_affiliation_strings":["Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101979726","display_name":"Simranjeet Singh","orcid":"https://orcid.org/0000-0002-8297-1470"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Simranjeet Singh","raw_affiliation_strings":["Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091334546","display_name":"Vaibhav Malviya","orcid":"https://orcid.org/0000-0003-1017-8948"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vaibhav Malviya","raw_affiliation_strings":["Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011009172","display_name":"Sachin Patkar","orcid":"https://orcid.org/0009-0003-6053-6886"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sachin Patkar","raw_affiliation_strings":["Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Department of Electrical Engineering,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047742576"],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":0.1954,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52441689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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/computer-science","display_name":"Computer science","score":0.7722600698471069},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7059342861175537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6485445499420166},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.639431357383728},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6347286105155945},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.620257556438446},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6078748106956482},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5862261056900024},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5057892799377441},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4949914813041687},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.47988831996917725},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4603528678417206},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4219255745410919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22268033027648926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19346174597740173},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1681441068649292},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11805793642997742}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7722600698471069},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7059342861175537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6485445499420166},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.639431357383728},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6347286105155945},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.620257556438446},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6078748106956482},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5862261056900024},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5057892799377441},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4949914813041687},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.47988831996917725},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4603528678417206},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4219255745410919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22268033027648926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19346174597740173},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1681441068649292},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11805793642997742},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ipas50080.2020.9334950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipas50080.2020.9334950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 4th International Conference on Image Processing, Applications and Systems (IPAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1565206031","https://openalex.org/W1674866864","https://openalex.org/W2117248802","https://openalex.org/W2148597194","https://openalex.org/W2155479981","https://openalex.org/W2164909551","https://openalex.org/W2330339889","https://openalex.org/W2756245057","https://openalex.org/W2766213449","https://openalex.org/W2898769229","https://openalex.org/W3105424368","https://openalex.org/W6637127756","https://openalex.org/W6701796388"],"related_works":["https://openalex.org/W4229588126","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W1018308721","https://openalex.org/W2106749552","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Depth":[0],"Estimation":[1],"and":[2,7,44,59,75,144,153,179],"localisation":[3],"is":[4,17,80,113,120,161,186],"a":[5,109],"critical":[6],"computation":[8,14],"heavy":[9],"task.":[10],"Due":[11],"to":[12,19,122],"its":[13],"complexity,":[15],"it":[16],"hard":[18],"achieve":[20],"the":[21,26,54,95,126,195],"high":[22],"rate":[23,158,182],"performance":[24],"on":[25,53,71,78,104,115,138,169,173,192],"normal":[27],"CPU.":[28],"We":[29],"here":[30],"have":[31,149],"as":[32],"purpose":[33],"compact,":[34],"low":[35],"power":[36],"architecture":[37],"for":[38,163,188,198],"real":[39],"time":[40],"stereo":[41,45,100],"depth":[42],"estimation":[43,102],"visual":[46],"odometry":[47,69],"that":[48],"can":[49],"be":[50],"easily":[51],"used":[52],"UAV":[55],"(unmanned":[56],"aerial":[57],"vehicle)":[58],"other":[60],"autonomous":[61],"navigation":[62],"vehicles.":[63],"A":[64,117],"novel":[65],"implementation":[66],"of":[67,111,125,159,166,183],"Stereo":[68],"based":[70,90,103],"careful":[72],"feature":[73,87],"selection":[74],"tracking":[76],"[2]":[77],"GPU":[79],"described.":[81],"It":[82],"accelerates":[83],"core":[84,175],"computations":[85],"like":[86],"tracking,":[88],"RANSAC":[89],"non":[91],"linear":[92],"solver":[93],"using":[94,99],"GPU.":[96],"3D":[97,127,189],"Mapping":[98],"disparity":[101],"More":[105],"Global":[106],"Matching":[107],"(MGM)":[108],"variant":[110],"SGM":[112],"implemented":[114],"FPGA.":[116],"Pipeline":[118],"Architecture":[119],"introduced":[121],"increase":[123],"throughput":[124],"map":[128],"by":[129],"leveraging":[130],"multiple":[131],"ARM":[132],"cores.":[133],"The":[134],"programs":[135],"are":[136],"tested":[137],"Jetson":[139,170],"Nano":[140,171],"(an":[141],"embedded":[142],"GPU)":[143],"Ultra96":[145,193],"(ARM-FPGA":[146],"Soc)":[147],"which":[148],"less":[150,155],"form":[151],"factor":[152],"consume":[154],"power.":[156],"Update":[157],"20":[160],"achieved":[162,187],"6":[164],"degrees":[165],"freedom":[167],"pose":[168],"(60":[172],"i7":[174],"with":[176],"Nvidia":[177],"1050ti)":[178],"an":[180],"update":[181],"16":[184],"fps":[185],"point":[190],"cloud":[191],"making":[194],"system":[196],"desirable":[197],"above":[199],"mentioned":[200],"applications.":[201]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}