{"id":"https://openalex.org/W2136022503","doi":"https://doi.org/10.1109/iros.2003.1250755","title":"Enhancing appearance-based robot localization using sparse disparity maps","display_name":"Enhancing appearance-based robot localization using sparse disparity maps","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2136022503","doi":"https://doi.org/10.1109/iros.2003.1250755","mag":"2136022503"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://inria.hal.science/inria-00321488","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064488097","display_name":"Josep M. Porta","orcid":"https://orcid.org/0000-0002-5056-1717"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"education","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"J.M. Porta","raw_affiliation_strings":["IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#"],"affiliations":[{"raw_affiliation_string":"IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I887064364"]},{"raw_affiliation_string":"Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#","institution_ids":["https://openalex.org/I887064364"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040312210","display_name":"Jakob Verbeek","orcid":"https://orcid.org/0000-0003-1419-1816"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"education","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"J.J. Verbeek","raw_affiliation_strings":["IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#"],"affiliations":[{"raw_affiliation_string":"IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I887064364"]},{"raw_affiliation_string":"Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#","institution_ids":["https://openalex.org/I887064364"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349937","display_name":"Ben Kr\u00f6se","orcid":"https://orcid.org/0000-0003-1237-0618"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"education","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"B. Krose","raw_affiliation_strings":["IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#"],"affiliations":[{"raw_affiliation_string":"IAS Group, Informatics Institute, University of Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I887064364"]},{"raw_affiliation_string":"Inst. of Informatics, Amsterdam Univ., Netherlands#TAB#","institution_ids":["https://openalex.org/I887064364"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064488097"],"corresponding_institution_ids":["https://openalex.org/I887064364"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.17244367,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"980","last_page":"985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.9987999796867371,"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/T11448","display_name":"Face recognition and analysis","score":0.9987999796867371,"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":0.9987000226974487,"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":0.9979000091552734,"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/robustness","display_name":"Robustness (evolution)","score":0.7897619605064392},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7657212018966675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6755861043930054},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.6390594244003296},{"id":"https://openalex.org/keywords/robust-principal-component-analysis","display_name":"Robust principal component analysis","score":0.5701719522476196},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5596144199371338},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.531204879283905},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.512432873249054},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4684954285621643},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.4646890163421631},{"id":"https://openalex.org/keywords/missing-data","display_name":"Missing data","score":0.4617014527320862},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31100574135780334},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08641764521598816}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7897619605064392},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7657212018966675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6755861043930054},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.6390594244003296},{"id":"https://openalex.org/C2777749129","wikidata":"https://www.wikidata.org/wiki/Q17148469","display_name":"Robust principal component analysis","level":3,"score":0.5701719522476196},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5596144199371338},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.531204879283905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.512432873249054},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4684954285621643},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.4646890163421631},{"id":"https://openalex.org/C9357733","wikidata":"https://www.wikidata.org/wiki/Q6878417","display_name":"Missing data","level":2,"score":0.4617014527320862},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31100574135780334},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08641764521598816},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2003.1250755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.2.5019","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.5019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.science.uva.nl/pub/computer-systems/aut-sys/reports/Porta03iros.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:inria-00321488v2","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00321488","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1250755","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00321488v2","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00321488","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1250755","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W21678818","https://openalex.org/W1602129629","https://openalex.org/W2010142364","https://openalex.org/W2028310195","https://openalex.org/W2049633694","https://openalex.org/W2103633133","https://openalex.org/W2127669771","https://openalex.org/W2131598171","https://openalex.org/W2493820185","https://openalex.org/W4244486013","https://openalex.org/W6600858420","https://openalex.org/W6657697445","https://openalex.org/W6676047094"],"related_works":["https://openalex.org/W4283792950","https://openalex.org/W2549425886","https://openalex.org/W2124460284","https://openalex.org/W2136668498","https://openalex.org/W2563483704","https://openalex.org/W3124370832","https://openalex.org/W3003801099","https://openalex.org/W2003667605","https://openalex.org/W62130100","https://openalex.org/W1980960407"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,131,139],"enhance":[4],"appearance-based":[5,52,109,154],"robot":[6],"localization":[7],"by":[8],"using":[9],"disparity":[10,58,135,143],"maps.":[11,136],"Disparity":[12],"maps":[13,59,144],"provide":[14],"the":[15,45,72,108,120,151],"same":[16],"type":[17],"of":[18,38,47,57,93,123,153],"information":[19,48],"as":[20],"range":[21],"based":[22],"sensors":[23],"(distance":[24],"to":[25,32,36,84,104,118,134,149],"objects)":[26],"and":[27,130],"thus,":[28],"they":[29,62],"are":[30,44,145],"likely":[31],"be":[33,85],"less":[34],"sensitive":[35],"changes":[37],"illumination":[39],"than":[40],"plain":[41],"images,":[42],"that":[43,61,142],"source":[46],"generally":[49],"used":[50,103],"in":[51,88,107],"localization.":[53,155],"The":[54,91,137],"main":[55],"drawback":[56],"is":[60],"can":[63,74],"include":[64],"very":[65],"noisy":[66,81],"depth":[67,78],"values:":[68],"points":[69],"for":[70],"which":[71],"algorithms":[73],"not":[75],"determine":[76,119],"reliable":[77],"information.":[79],"These":[80],"values":[82,95,129],"have":[83],"discarded":[86],"resulting":[87],"missing":[89,94,128],"values.":[90],"presence":[92],"makes":[96],"principal":[97,121],"component":[98],"analysis":[99],"(the":[100],"standard":[101],"method":[102],"compress":[105],"images":[106],"framework)":[110],"unfeasible.":[111],"We":[112],"describe":[113],"a":[114,124,146],"novel":[115],"expectation-maximization":[116],"algorithm":[117],"components":[122],"data":[125],"set":[126],"including":[127],"apply":[132],"it":[133],"results":[138],"present":[140],"show":[141],"valid":[147],"alternative":[148],"increase":[150],"robustness":[152]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
