{"id":"https://openalex.org/W2085638648","doi":"https://doi.org/10.1109/iros.2009.5354667","title":"Combined constraint matching algorithm for stereo visual odometry based on local interest points","display_name":"Combined constraint matching algorithm for stereo visual odometry based on local interest points","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2085638648","doi":"https://doi.org/10.1109/iros.2009.5354667","mag":"2085638648"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"P. Nunez","orcid":null},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"P. Nunez","raw_affiliation_strings":["Dept. Tecnolog\u00eda de los Computadores y las Comunicaciones, Universidad de Extremadura, Spain","ISIS Group, and is with Dept. Tecnolog\u00eda de los Computadores y las Comunicaciones, Universidad de Extremadura, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Tecnolog\u00eda de los Computadores y las Comunicaciones, Universidad de Extremadura, Spain","institution_ids":["https://openalex.org/I80606768"]},{"raw_affiliation_string":"ISIS Group, and is with Dept. Tecnolog\u00eda de los Computadores y las Comunicaciones, Universidad de Extremadura, Spain","institution_ids":["https://openalex.org/I80606768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029873782","display_name":"Ricardo V\u00e1zquez-Mart\u00edn","orcid":"https://orcid.org/0000-0003-1742-6852"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Vazquez-Martin","raw_affiliation_strings":["Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003517792","display_name":"Antonio Bandera","orcid":"https://orcid.org/0000-0003-3147-0307"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Bandera","raw_affiliation_strings":["Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061295436","display_name":"F. Sandoval","orcid":"https://orcid.org/0000-0001-9235-7856"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F. Sandoval","raw_affiliation_strings":["Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Tecnolog\u00eda Electronica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Grupo de Ingenier\u00eda y Sistemas Integrados (ISIS), Dept. Tecnolog\u00eda Electr\u00f3nica, Universidad de M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0884,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.779761,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3095","last_page":"3100"},"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":0.9998999834060669,"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":0.9997000098228455,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7661479115486145},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7385217547416687},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7026107311248779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102980971336365},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5644902586936951},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5160174369812012},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4781445264816284},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4709376394748688},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.4469166398048401},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4312286078929901},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4102877974510193},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37314701080322266},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3675489127635956},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.36200064420700073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3024083971977234},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2793029844760895}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7661479115486145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7385217547416687},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7026107311248779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102980971336365},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5644902586936951},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5160174369812012},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4781445264816284},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4709376394748688},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.4469166398048401},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4312286078929901},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4102877974510193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37314701080322266},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3675489127635956},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.36200064420700073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3024083971977234},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2793029844760895},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W205822829","https://openalex.org/W2004835121","https://openalex.org/W2046112356","https://openalex.org/W2068379792","https://openalex.org/W2097197771","https://openalex.org/W2124386111","https://openalex.org/W2128086777","https://openalex.org/W2128626135","https://openalex.org/W2143838684","https://openalex.org/W2159756179","https://openalex.org/W2171737664","https://openalex.org/W2296147781","https://openalex.org/W2973878447","https://openalex.org/W4243425824","https://openalex.org/W6608492817"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"describe":[4],"a":[5,18,91,107,130],"new":[6],"approach":[7,102,125],"which":[8],"uses":[9],"scale-invariant":[10],"image":[11,33,80],"features":[12,23,71,81],"to":[13,54,73,83,110],"estimate":[14,111],"the":[15,58,66,98,101,112,123,136,139],"motion":[16,46],"of":[17,28,61,70,79,90,100,138],"stereo":[19,74],"head.":[20],"These":[21],"point":[22],"are":[24,86],"matched":[25],"between":[26,68,77,116],"pairs":[27,75],"frames":[29,85],"and":[30,76],"linked":[31],"into":[32],"trajectories":[34],"at":[35],"video":[36],"rate,":[37],"generating":[38],"what":[39],"it":[40],"is":[41,64,103],"called":[42],"visual":[43,49],"odometry,":[44],"i.e.":[45],"estimates":[47],"from":[48],"input":[50],"alone.":[51],"With":[52],"respect":[53],"previously":[55],"proposed":[56,124],"approaches,":[57],"main":[59],"novelty":[60],"our":[62],"proposal":[63],"that":[65],"matching":[67,95],"sets":[69,78],"associated":[72,82],"consecutive":[84,117],"conducted":[87],"by":[88,105],"means":[89],"fast":[92],"combined":[93],"constraint":[94],"algorithm.":[96],"Besides,":[97],"efficiency":[99],"increased":[104],"using":[106],"closed-form":[108],"solution":[109],"final":[113],"robot":[114],"displacement":[115],"acquired":[118],"frames.":[119],"We":[120],"have":[121],"tested":[122],"for":[126],"navigational":[127],"purposes":[128],"in":[129],"real":[131],"environment.":[132],"Experimental":[133],"results":[134],"demonstrate":[135],"performance":[137],"proposal.":[140]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}