{"id":"https://openalex.org/W2071387846","doi":"https://doi.org/10.1109/iros.2010.5651064","title":"Temporal and spatial 3D motion vector filtering based visual odometry for outdoor service robot","display_name":"Temporal and spatial 3D motion vector filtering based visual odometry for outdoor service robot","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2071387846","doi":"https://doi.org/10.1109/iros.2010.5651064","mag":"2071387846"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651064","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/A5038547880","display_name":"Giil Kwon","orcid":"https://orcid.org/0000-0003-1015-5228"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Giil Kwon","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Robotics Program, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Robotics Program, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054363587","display_name":"Yeong Nam Chae","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeong Nam Chae","raw_affiliation_strings":["Department of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Department of Computer Science, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Computer Science, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101529052","display_name":"H.S. Yang","orcid":"https://orcid.org/0009-0005-0599-9911"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H S Yang","raw_affiliation_strings":["Department of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Department of Computer Science, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Computer Science, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.6076,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97878594,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3804","last_page":"3809"},"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":0.9980999827384949,"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":0.8289202451705933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7664495706558228},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6686620116233826},{"id":"https://openalex.org/keywords/motion-vector","display_name":"Motion vector","score":0.6442956924438477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.640484094619751},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.5581068396568298},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5340710282325745},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5266368389129639},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4541153907775879},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42885488271713257},{"id":"https://openalex.org/keywords/quarter-pixel-motion","display_name":"Quarter-pixel motion","score":0.4129330515861511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34754273295402527},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25989294052124023},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25690844655036926},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0594925582408905}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8289202451705933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7664495706558228},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6686620116233826},{"id":"https://openalex.org/C2779020251","wikidata":"https://www.wikidata.org/wiki/Q3555171","display_name":"Motion vector","level":3,"score":0.6442956924438477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.640484094619751},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.5581068396568298},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5340710282325745},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5266368389129639},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4541153907775879},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42885488271713257},{"id":"https://openalex.org/C174493125","wikidata":"https://www.wikidata.org/wiki/Q1073461","display_name":"Quarter-pixel motion","level":3,"score":0.4129330515861511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34754273295402527},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25989294052124023},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25690844655036926},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0594925582408905},{"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.2010.5651064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651064","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W10195015","https://openalex.org/W1993267444","https://openalex.org/W2081594369","https://openalex.org/W2110729215","https://openalex.org/W2119605622","https://openalex.org/W2125240024","https://openalex.org/W2128019145","https://openalex.org/W2129249398","https://openalex.org/W2143838684","https://openalex.org/W2161950966","https://openalex.org/W2165284796","https://openalex.org/W2498631646","https://openalex.org/W6600413851","https://openalex.org/W6677885332"],"related_works":["https://openalex.org/W839483973","https://openalex.org/W1969136679","https://openalex.org/W2156379140","https://openalex.org/W4241657933","https://openalex.org/W2143589929","https://openalex.org/W4250500397","https://openalex.org/W1579940903","https://openalex.org/W1604953040","https://openalex.org/W1971837917","https://openalex.org/W2048930022"],"abstract_inverted_index":{"This":[0,146],"paper":[1],"describes":[2],"a":[3,16,152],"visual":[4,35],"odometry":[5,36],"algorithm":[6,147],"that":[7,31,155],"deals":[8],"with":[9,167],"the":[10,62,74,80,86,95,106,109,119,123,133],"nearly":[11],"degenerated":[12],"situation":[13],"caused":[14,126,173],"by":[15,21,99,112,127,174],"false":[17,45],"motion":[18,46,53,58,64,71,76,81,87,96,124,144],"vector":[19,54,59,77,110,125],"generated":[20,98,111],"independently":[22,100,168],"moving":[23,101,169],"objects,":[24],"repetitive":[25,175],"patterns":[26,176],"and":[27,51,73,85,118,171,177],"wrong":[28],"depth":[29],"information":[30,84,93,121],"often":[32],"arise":[33],"in":[34,115,157],"for":[37],"outdoor":[38,158],"service":[39,153],"robots.":[40],"To":[41],"filter":[42,60,67,78],"out":[43,68],"these":[44],"vectors,":[47,72],"we":[48,164],"use":[49],"temporal":[50,57],"spatial":[52,75],"filter.":[55],"The":[56,91],"uses":[61,79,138],"previous":[63],"models":[65],"to":[66,141],"abruptly":[69],"changed":[70],"vector's":[82,88],"length":[83,120],"direction":[89,92,107],"information.":[90],"of":[94,108,122],"vectors":[97],"objects":[102,170],"are":[103],"different":[104,131],"from":[105,132],"camera":[113],"movement":[114],"3D":[116],"space,":[117],"triangulation":[128,178],"error":[129],"is":[130],"correctly":[134],"triangulated":[135],"points.":[136],"We":[137],"voting":[139],"scheme":[140],"determine":[142],"primary":[143],"vectors.":[145],"has":[148],"been":[149],"tested":[150],"on":[151],"robot":[154],"works":[156],"environment.":[159],"By":[160],"using":[161],"our":[162],"method,":[163],"can":[165],"deal":[166],"problem":[172],"errors.":[179]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}