{"id":"https://openalex.org/W1991821313","doi":"https://doi.org/10.1109/iros.2005.1545432","title":"Online dense local 3D world reconstruction from stereo image sequences","display_name":"Online dense local 3D world reconstruction from stereo image sequences","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1991821313","doi":"https://doi.org/10.1109/iros.2005.1545432","mag":"1991821313"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5113812356","display_name":"S. Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Kagami","raw_affiliation_strings":["CREST Program, Japan Science and Technology Agency, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"CREST Program, Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000250306","display_name":"Yutaka Takaoka","orcid":"https://orcid.org/0000-0001-7568-8135"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Takaoka","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008165228","display_name":"Y. Kida","orcid":"https://orcid.org/0009-0002-0299-4275"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Kida","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005694475","display_name":"Keiji Nishiwaki","orcid":"https://orcid.org/0000-0001-5017-244X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Nishiwaki","raw_affiliation_strings":["CREST Program, Japan Science and Technology Agency, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"CREST Program, Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057924291","display_name":"Takeo Kanade","orcid":"https://orcid.org/0000-0002-6267-6853"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"T. Kanade","raw_affiliation_strings":["CREST Program, Japan Science and Technology Agency, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"CREST Program, Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113812356"],"corresponding_institution_ids":["https://openalex.org/I4210086780","https://openalex.org/I73613424","https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":1.4687,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82982004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3858","last_page":"3863"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9972000122070312,"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":0.9216547012329102},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8581089973449707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8433246612548828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6622554659843445},{"id":"https://openalex.org/keywords/stereo-image","display_name":"Stereo image","score":0.5209678411483765},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5150158405303955},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.513804018497467},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.48167121410369873},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4726126492023468},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46842989325523376},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4606473743915558},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4494556486606598},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4362791180610657},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4328896701335907},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3499678373336792}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9216547012329102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8581089973449707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8433246612548828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6622554659843445},{"id":"https://openalex.org/C2987632653","wikidata":"https://www.wikidata.org/wiki/Q7611220","display_name":"Stereo image","level":3,"score":0.5209678411483765},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5150158405303955},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.513804018497467},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.48167121410369873},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4726126492023468},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46842989325523376},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4606473743915558},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4494556486606598},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4362791180610657},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4328896701335907},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3499678373336792},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315716","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1551215724","https://openalex.org/W1782560845","https://openalex.org/W1993267444","https://openalex.org/W2049633694","https://openalex.org/W2090949637","https://openalex.org/W2094740227","https://openalex.org/W2118154608","https://openalex.org/W2127895608","https://openalex.org/W2129415393","https://openalex.org/W2138835141","https://openalex.org/W2146201632","https://openalex.org/W2158054358","https://openalex.org/W2159121504","https://openalex.org/W2164934677","https://openalex.org/W2167683317","https://openalex.org/W2180727096","https://openalex.org/W2333269907","https://openalex.org/W2466281429","https://openalex.org/W3040777582","https://openalex.org/W4298294117","https://openalex.org/W6632889508","https://openalex.org/W6638240609","https://openalex.org/W6684908123","https://openalex.org/W6719252643","https://openalex.org/W6780413204"],"related_works":["https://openalex.org/W2532401163","https://openalex.org/W2013389131","https://openalex.org/W2540808226","https://openalex.org/W1507849405","https://openalex.org/W2158260517","https://openalex.org/W2510153286","https://openalex.org/W1970863638","https://openalex.org/W2270422078","https://openalex.org/W2398523692","https://openalex.org/W1532921087"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"an":[3],"online":[4],"3D":[5,58],"reconstruction":[6],"system":[7],"from":[8],"stereo":[9,30],"image":[10,44],"sequences":[11],"to":[12],"obtain":[13],"a":[14,68,78],"dense":[15],"local":[16],"world":[17],"model":[18],"for":[19,72],"robot":[20,80],"navigation.":[21],"The":[22],"proposed":[23],"method":[24,66],"consists":[25],"of":[26,77],"three":[27],"components:":[28],"1)":[29],"depth":[31,55],"map":[32,56],"calculation,":[33],"2)":[34],"correspondence":[35],"calculation":[36],"in":[37,67],"time":[38],"sequential":[39],"images":[40],"by":[41,51],"tracking":[42],"raw":[43],"features,":[45],"3)":[46],"6DOF":[47],"camera":[48],"motion":[49,69],"estimation":[50],"RANSAC":[52],"and":[53,63],"integrate":[54],"into":[57],"reconstructed":[59],"model.":[60],"We":[61],"examined":[62],"evaluated":[64],"our":[65],"capture":[70],"environment":[71],"comparison.":[73],"Finally":[74],"experimental":[75],"results":[76],"humanoid":[79],"H7":[81],"are":[82],"denoted.":[83]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
