{"id":"https://openalex.org/W2142454444","doi":"https://doi.org/10.1109/iros.2005.1545443","title":"CV-SLAM: a new ceiling vision-based SLAM technique","display_name":"CV-SLAM: a new ceiling vision-based SLAM technique","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2142454444","doi":"https://doi.org/10.1109/iros.2005.1545443","mag":"2142454444"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545443","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/A5083556186","display_name":"WooYeon Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I94588446","display_name":"Hongik University","ror":"https://ror.org/00egdv862","country_code":"KR","type":"education","lineage":["https://openalex.org/I94588446"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"WooYeon Jeong","raw_affiliation_strings":["School of Radio Science and Communications, Hongik University, Seoul, South Korea","Sch. of Radio Sci. & Commun., Hongik Univ., Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Radio Science and Communications, Hongik University, Seoul, South Korea","institution_ids":["https://openalex.org/I94588446"]},{"raw_affiliation_string":"Sch. of Radio Sci. & Commun., Hongik Univ., Seoul, South Korea","institution_ids":["https://openalex.org/I94588446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046504049","display_name":"Kyoung Mu Lee","orcid":"https://orcid.org/0000-0001-7210-1036"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoung Mu Lee","raw_affiliation_strings":["School of Electrical and Computer Science, Seoul National University, Seoul, South Korea","Seoul National Univ"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Science, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul National Univ","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083556186"],"corresponding_institution_ids":["https://openalex.org/I94588446"],"apc_list":null,"apc_paid":null,"fwci":185.9717,"has_fulltext":false,"cited_by_count":118,"citation_normalized_percentile":{"value":0.9993351,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9965999722480774,"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-vision","display_name":"Computer vision","score":0.8511930704116821},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8360519409179688},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7220466732978821},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7184690237045288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6605207920074463},{"id":"https://openalex.org/keywords/ceiling","display_name":"Ceiling (cloud)","score":0.6252437233924866},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6206555366516113},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.584011435508728},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5080142021179199},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45180949568748474},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43538475036621094},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.4147798418998718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35647135972976685},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21420413255691528},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12120646238327026}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8511930704116821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8360519409179688},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7220466732978821},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7184690237045288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6605207920074463},{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.6252437233924866},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6206555366516113},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.584011435508728},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5080142021179199},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45180949568748474},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43538475036621094},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4147798418998718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35647135972976685},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21420413255691528},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12120646238327026},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2005.1545443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545443","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.3479","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.3479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/publication/conf/2005/cvslam_IROS05.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.3783","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.3783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cv.snu.ac.kr/newhome/publication/pdf/conf/ic037.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1676552347","https://openalex.org/W1795768933","https://openalex.org/W1963623376","https://openalex.org/W1995985000","https://openalex.org/W2004835121","https://openalex.org/W2008572525","https://openalex.org/W2111308925","https://openalex.org/W2113243634","https://openalex.org/W2115286699","https://openalex.org/W2119747362","https://openalex.org/W2126742341","https://openalex.org/W2143864104","https://openalex.org/W2147139529","https://openalex.org/W2151103935","https://openalex.org/W4238681124","https://openalex.org/W6637324600"],"related_works":["https://openalex.org/W2509618504","https://openalex.org/W3035498256","https://openalex.org/W2086478527","https://openalex.org/W2121280386","https://openalex.org/W2121069978","https://openalex.org/W2142454444","https://openalex.org/W2145974649","https://openalex.org/W1511825028","https://openalex.org/W2554592351","https://openalex.org/W924340503"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,15,150,161],"fast":[3],"and":[4,11,55,61,86,100,110,160,170],"robust":[5],"CV-SLAM":[6],"(ceiling":[7],"vision-based":[8],"simultaneous":[9],"localization":[10,31],"mapping)":[12],"technique":[13],"using":[14,104,149],"single":[16,41],"ceiling":[17,47,75,163],"vision":[18,48,76],"sensor.":[19],"The":[20],"proposed":[21,174],"algorithm":[22,175],"is":[23,50,145],"suitable":[24],"for":[25,122],"system":[26],"that":[27],"demands":[28],"very":[29],"high":[30],"accuracy":[32,169],"such":[33],"as":[34],"an":[35],"intelligent":[36],"robot":[37],"vacuum":[38],"cleaner.":[39],"A":[40],"camera":[42],"looking":[43],"upward":[44],"direction":[45],"(called":[46],"system)":[49],"mounted":[51],"on":[52],"the":[53,64,69,74,98,120,128,135,156,168,173],"robot,":[54],"salient":[56],"image":[57,65],"features":[58],"are":[59],"detected":[60],"tracked":[62],"through":[63,134],"sequence.":[66],"Compared":[67],"with":[68],"conventional":[70],"frontal":[71],"view":[72],"systems,":[73],"has":[77],"advantage":[78],"in":[79,93,132,176],"tracking,":[80],"since":[81],"it":[82],"involves":[83],"only":[84],"rotation":[85,99],"affine":[87,101],"transform":[88,102],"without":[89],"scale":[90],"change.":[91],"And,":[92],"this":[94],"paper,":[95],"we":[96,125],"solve":[97],"problems":[103],"3D":[105,129,158],"gradient":[106],"orientation":[107],"estimation":[108],"method":[109],"multi-view":[111],"description":[112],"of":[113,172],"landmarks.":[114],"By":[115],"applying":[116],"these":[117],"methods":[118],"to":[119],"solution":[121],"data":[123],"association,":[124],"can":[126],"reconstruct":[127],"landmark":[130],"map":[131,159],"real-time":[133],"extend":[136],"Kalman":[137],"filter":[138],"based":[139],"SLAM":[140],"framework.":[141],"Furthermore,":[142],"relocation":[143],"problem":[144],"solved":[146],"efficiently":[147],"by":[148],"wide":[151],"base":[152],"line":[153],"matching":[154],"between":[155],"reconstructed":[157],"2D":[162],"image.":[164],"Experimental":[165],"results":[166],"demonstrate":[167],"robustness":[171],"real":[177],"environments.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
