{"id":"https://openalex.org/W2095972484","doi":"https://doi.org/10.1109/iros.2010.5649749","title":"Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera","display_name":"Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2095972484","doi":"https://doi.org/10.1109/iros.2010.5649749","mag":"2095972484"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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":"https://openalex.org/A5079459715","display_name":"Marc D. Killpack","orcid":"https://orcid.org/0000-0001-9372-104X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc Killpack","raw_affiliation_strings":["Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","Healthcare Robotics Lab, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060673347","display_name":"Travis Deyle","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Travis Deyle","raw_affiliation_strings":["Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","Healthcare Robotics Lab, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030612690","display_name":"Cressel Anderson","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cressel Anderson","raw_affiliation_strings":["Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","Healthcare Robotics Lab, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089014521","display_name":"Charles C. Kemp","orcid":"https://orcid.org/0000-0003-4720-1136"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles C Kemp","raw_affiliation_strings":["Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","Healthcare Robotics Lab, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Laboratory, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"139","last_page":"146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","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/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.782120943069458},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7524899244308472},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7511028051376343},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7049393057823181},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6756621599197388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.665746808052063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6543968915939331},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6168690919876099},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47438719868659973},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41816478967666626},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08620208501815796}],"concepts":[{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.782120943069458},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7524899244308472},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7511028051376343},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7049393057823181},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6756621599197388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.665746808052063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543968915939331},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6168690919876099},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47438719868659973},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41816478967666626},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08620208501815796},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2010.5649749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-4156","is_oa":false,"landing_page_url":"https://scholarsarchive.byu.edu/facpub/3221","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"All Faculty Publications","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.863.7864","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.863.7864","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.travisdeyle.com/publications/pdf/2010_iros_visualodom.pdf","raw_type":"text"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-4154","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5649749","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/37351","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/37351","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5095854801","display_name":"Collaborative Research:  Assistive Object Manipulation via RFID Guided Robots","funder_award_id":"0932592","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6318047389","display_name":"HRI: ROBOT LEARNING FROM TELEOPERATIVE-BASED INSTRUCTION AND MULTIMODAL INTERACTION","funder_award_id":"0705130","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6825202671","display_name":null,"funder_award_id":"IIS-0705130","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337390","display_name":"Division of Chemical, Bioengineering, Environmental, and Transport Systems","ror":"https://ror.org/0471zv972"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W176729393","https://openalex.org/W181789436","https://openalex.org/W1481834144","https://openalex.org/W1976930205","https://openalex.org/W2044676457","https://openalex.org/W2056598605","https://openalex.org/W2066260126","https://openalex.org/W2082069298","https://openalex.org/W2111308925","https://openalex.org/W2126464006","https://openalex.org/W2128622892","https://openalex.org/W2145068019","https://openalex.org/W2154538173","https://openalex.org/W2165284796","https://openalex.org/W2169076903","https://openalex.org/W2181282840","https://openalex.org/W2532344392","https://openalex.org/W2901136733","https://openalex.org/W6601185777","https://openalex.org/W6607182440","https://openalex.org/W6676770471","https://openalex.org/W6684839429","https://openalex.org/W6728699809","https://openalex.org/W6756486208"],"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":{"An":[0],"omnidirectional":[1,149],"Mecanum":[2,14],"base":[3],"allows":[4,60],"for":[5,96,143],"more":[6],"flexible":[7],"mobile":[8,150],"manipulation.":[9],"However,":[10],"slipping":[11],"of":[12,30,33],"the":[13,25,54,57,77],"wheels":[15],"results":[16],"in":[17,64,99],"poor":[18],"dead-reckoning":[19],"estimates":[20,80,137],"from":[21],"wheel":[22,126,144],"encoders,":[23],"limiting":[24],"accuracy":[26],"and":[27,43,90,108,138],"overall":[28],"utility":[29],"this":[31,132],"type":[32],"base.":[34,152],"We":[35,52,74,111],"present":[36],"a":[37,40,147],"system":[38,55,133],"with":[39],"downward-facing":[41],"camera":[42],"light":[44],"ring":[45],"to":[46,62,83,125,141],"provide":[47],"robust":[48],"visual":[49,78,122],"odometry":[50,79,123,136],"estimates.":[51],"mounted":[53],"under":[56],"robot":[58,151],"which":[59],"it":[61],"operate":[63],"conditions":[65],"such":[66],"as":[67],"large":[68],"crowds":[69],"or":[70],"low":[71],"ambient":[72],"lighting.":[73],"demonstrate":[75,116],"that":[76,115,131],"are":[81],"sufficient":[82],"generate":[84],"closed-loop":[85],"PID":[86],"(Proportional":[87],"Integral":[88],"Derivative)":[89],"LQR":[91],"(Linear":[92],"Quadratic":[93],"Regulator)":[94],"controllers":[95],"motion":[97],"control":[98,118],"three":[100],"different":[101],"scenarios:":[102],"waypoint":[103],"tracking,":[104],"small":[105],"disturbance":[106],"rejection,":[107],"sideways":[109],"motion.":[110],"report":[112],"quantitative":[113],"measurements":[114],"superior":[117],"performance":[119],"when":[120],"using":[121],"compared":[124],"encoders.":[127],"Finally,":[128],"we":[129],"show":[130],"provides":[134],"high-fidelity":[135],"is":[139],"able":[140],"compensate":[142],"slip":[145],"on":[146],"four-wheeled":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}