{"id":"https://openalex.org/W2059958089","doi":"https://doi.org/10.1109/iros.2010.5650517","title":"Moving on to dynamic environments: Visual odometry using feature classification","display_name":"Moving on to dynamic environments: Visual odometry using feature classification","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2059958089","doi":"https://doi.org/10.1109/iros.2010.5650517","mag":"2059958089"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650517","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":"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/A5058627869","display_name":"Bernd Kitt","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"B Kitt","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037459441","display_name":"Franck Moosmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F Moosmann","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C Stiller","raw_affiliation_strings":["Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058627869"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":33.523,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.99156762,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"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":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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"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":0.9995999932289124,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.8174171447753906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7562589645385742},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7509137392044067},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7455399036407471},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7167592644691467},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6774736046791077},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5873767137527466},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5666106343269348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5617036819458008},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5415473580360413},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5047575235366821},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3138810992240906},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16527077555656433}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8174171447753906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7562589645385742},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7509137392044067},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7455399036407471},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7167592644691467},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6774736046791077},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5873767137527466},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5666106343269348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5617036819458008},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5415473580360413},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5047575235366821},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3138810992240906},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16527077555656433},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5650517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650517","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311048","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W167927534","https://openalex.org/W1527191856","https://openalex.org/W1569820002","https://openalex.org/W1588720062","https://openalex.org/W1590697402","https://openalex.org/W1664751303","https://openalex.org/W1992989752","https://openalex.org/W2011891945","https://openalex.org/W2012319351","https://openalex.org/W2056132907","https://openalex.org/W2096090110","https://openalex.org/W2096901547","https://openalex.org/W2097197771","https://openalex.org/W2101648351","https://openalex.org/W2111308925","https://openalex.org/W2119605622","https://openalex.org/W2120883775","https://openalex.org/W2123487311","https://openalex.org/W2126464006","https://openalex.org/W2133145258","https://openalex.org/W2143314306","https://openalex.org/W2150183285","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2161969291","https://openalex.org/W2165284796","https://openalex.org/W2166502824","https://openalex.org/W2209124607","https://openalex.org/W2790374560","https://openalex.org/W6606813590","https://openalex.org/W6631506494","https://openalex.org/W6636964627"],"related_works":["https://openalex.org/W2273631522","https://openalex.org/W2186038791","https://openalex.org/W2046479015","https://openalex.org/W3135923011","https://openalex.org/W2093185295","https://openalex.org/W2525521397","https://openalex.org/W2138951639","https://openalex.org/W22611225","https://openalex.org/W2129860101","https://openalex.org/W1147166528"],"abstract_inverted_index":{"Visually":[0],"estimating":[1],"a":[2,46,61,87,115,122],"robot's":[3],"own":[4],"motion":[5,125],"has":[6],"been":[7,21],"an":[8,106],"active":[9],"field":[10],"of":[11,49,102,144],"research":[12],"within":[13],"the":[14,38,74,99,129,137,142,145],"last":[15],"years.":[16],"Though":[17],"impressive":[18],"results":[19],"have":[20],"reported,":[22],"some":[23],"application":[24],"areas":[25],"still":[26],"exhibit":[27],"huge":[28],"challenges.":[29],"Especially":[30],"for":[31],"car-like":[32],"robots":[33],"in":[34,81,112,128,148],"urban":[35],"environments":[36,151],"even":[37,127],"most":[39],"robust":[40,123],"estimation":[41,66,126],"techniques":[42],"fail":[43],"due":[44],"to":[45,76,155],"vast":[47],"portion":[48],"independently":[50,133],"moving":[51,95,134],"objects.":[52],"Hence,":[53],"we":[54],"move":[55],"one":[56],"step":[57],"further":[58,103],"and":[59,79,97],"propose":[60],"method":[62,75],"that":[63],"combines":[64],"ego-motion":[65],"with":[67,114,152],"low-level":[68],"object":[69],"detection.":[70],"We":[71],"specifically":[72],"design":[73],"be":[77],"general":[78],"applicable":[80],"real-time.":[82],"Pre-classifying":[83],"interest":[84],"points":[85],"is":[86],"key":[88],"step,":[89],"which":[90],"rejects":[91],"matches":[92],"on":[93],"possibly":[94],"objects":[96,135],"reduces":[98],"computational":[100],"load":[101],"steps.":[104],"Employing":[105],"Iterated":[107],"Sigma":[108],"Point":[109],"Kalman":[110],"Filter":[111],"combination":[113],"RANSAC":[116],"based":[117],"outlier":[118],"rejection":[119],"scheme":[120],"yields":[121],"frame-to-frame":[124],"case":[130],"when":[131],"many":[132],"cover":[136],"image.":[138],"Extensive":[139],"experiments":[140],"show":[141],"robustness":[143],"proposed":[146],"approach":[147],"highly":[149],"dynamic":[150],"speeds":[153],"up":[154],"20m/s.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
