{"id":"https://openalex.org/W2037926658","doi":"https://doi.org/10.1109/iros.2012.6385607","title":"Full scaled 3D visual odometry from a single wearable omnidirectional camera","display_name":"Full scaled 3D visual odometry from a single wearable omnidirectional camera","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2037926658","doi":"https://doi.org/10.1109/iros.2012.6385607","mag":"2037926658"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5033305574","display_name":"Daniel Guti\u00e9rrez-G\u00f3mez","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I4405260899","display_name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n","ror":"https://ror.org/04eqgej32","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Gutierrez-Gomez","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102864190","display_name":"Luis Puig","orcid":"https://orcid.org/0000-0001-5025-5229"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I4405260899","display_name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n","ror":"https://ror.org/04eqgej32","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Puig","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088447291","display_name":"J.J. Guerrero","orcid":"https://orcid.org/0000-0001-5209-2267"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I4405260899","display_name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n","ror":"https://ror.org/04eqgej32","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.J. Guerrero","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS)-Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas (DIIS) - Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4276","last_page":"4281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9987000226974487,"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":0.8100424408912659},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7784955501556396},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.718926727771759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6634498834609985},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5944503545761108},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.47098585963249207},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46930697560310364},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4644000828266144},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4522736966609955},{"id":"https://openalex.org/keywords/scale-factor","display_name":"Scale factor (cosmology)","score":0.4422109127044678},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.4300561845302582},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.41089731454849243},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.3906935453414917},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.327477365732193},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12774544954299927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1232975423336029},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11022251844406128}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8100424408912659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7784955501556396},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.718926727771759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6634498834609985},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5944503545761108},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.47098585963249207},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46930697560310364},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4644000828266144},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4522736966609955},{"id":"https://openalex.org/C144386022","wikidata":"https://www.wikidata.org/wiki/Q1332997","display_name":"Scale factor (cosmology)","level":5,"score":0.4422109127044678},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.4300561845302582},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.41089731454849243},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.3906935453414917},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.327477365732193},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12774544954299927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1232975423336029},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11022251844406128},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C20154449","wikidata":"https://www.wikidata.org/wiki/Q1129469","display_name":"Metric expansion of space","level":4,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C172790937","wikidata":"https://www.wikidata.org/wiki/Q18343","display_name":"Dark energy","level":3,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.373.1505","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.373.1505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.unizar.es/new/data/documentos/IROS2012_DGutierrez.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W169439271","https://openalex.org/W2003315864","https://openalex.org/W2010542681","https://openalex.org/W2020054776","https://openalex.org/W2026853674","https://openalex.org/W2047545226","https://openalex.org/W2063824914","https://openalex.org/W2082313107","https://openalex.org/W2096901547","https://openalex.org/W2098171705","https://openalex.org/W2098613108","https://openalex.org/W2101648351","https://openalex.org/W2102182691","https://openalex.org/W2104265303","https://openalex.org/W2105637477","https://openalex.org/W2113243634","https://openalex.org/W2118428504","https://openalex.org/W2125240024","https://openalex.org/W2128086777","https://openalex.org/W2152671441","https://openalex.org/W2155914143","https://openalex.org/W2167777630","https://openalex.org/W2247804357","https://openalex.org/W2536927294","https://openalex.org/W3083706479","https://openalex.org/W6606837808"],"related_works":["https://openalex.org/W2006169798","https://openalex.org/W2085689676","https://openalex.org/W2120510242","https://openalex.org/W2464674920","https://openalex.org/W2907109935","https://openalex.org/W2270419269","https://openalex.org/W1147166528","https://openalex.org/W2621257385","https://openalex.org/W2117668073","https://openalex.org/W2037926658"],"abstract_inverted_index":{"In":[0,132],"the":[1,25,34,37,92,104,113,117,129,141,144,161,171,180,187,192,196,199,223,228,252],"last":[2],"years":[3],"monocular":[4],"SLAM":[5,130,159],"has":[6],"been":[7],"widely":[8],"used":[9],"to":[10,33,60,97,139,167,195,221,257],"obtain":[11],"highly":[12],"accurate":[13],"maps":[14],"and":[15,50,52,85,124,227],"trajectory":[16,172],"estimations":[17],"of":[18,24,27,36,101,103,109,112,116,143,157,198],"a":[19,42,137,152,176,218,245],"moving":[20],"camera.":[21],"However,":[22],"one":[23],"issues":[26],"this":[28,133],"approach":[29,239,254],"is":[30,47,74,215,255],"that,":[31],"due":[32],"impossibility":[35],"depth":[38],"being":[39],"measured":[40],"in":[41,128,170,217],"single":[43],"image,":[44],"global":[45],"scale":[46,78,94,142,225,260],"not":[48],"observable":[49],"scene":[51,105,145],"camera":[53,118,149,181,200],"motion":[54,88,230],"can":[55,185],"only":[56],"be":[57,168],"recovered":[58],"up":[59],"scale.":[61,235],"This":[62,212],"problem":[63],"gets":[64],"aggravated":[65],"as":[66],"we":[67,95,135,184],"deal":[68],"with":[69,232,259],"larger":[70],"scenes":[71],"since":[72],"it":[73,127],"more":[75],"likely":[76],"that":[77,251],"drift":[79],"arises":[80],"between":[81,121],"different":[82],"map":[83],"portions":[84],"their":[86],"corresponding":[87],"estimates.":[89],"To":[90],"compute":[91],"absolute":[93],"need":[96],"know":[98],"some":[99],"kind":[100],"dimension":[102],"(e.g.,":[106],"actual":[107],"size":[108],"an":[110,147,202],"element":[111],"scene,":[114],"velocity":[115],"or":[119],"baseline":[120],"two":[122],"frames)":[123],"somehow":[125],"integrate":[126],"estimation.":[131,173],"paper,":[134],"present":[136],"method":[138],"recover":[140],"using":[146,240],"omnidirectional":[148],"mounted":[150],"on":[151,179,206,209],"helmet.":[153],"The":[154],"high":[155],"precision":[156],"visual":[158],"allows":[160],"head":[162],"vertical":[163,182],"oscillation":[164],"during":[165],"walking":[166],"perceived":[169],"By":[174],"performing":[175],"spectral":[177],"analysis":[178],"displacement,":[183],"measure":[186],"step":[188,193],"frequency.":[189],"We":[190,236],"relate":[191],"frequency":[194],"speed":[197,213],"by":[201],"empirical":[203],"formula":[204],"based":[205],"biomedical":[207],"experiments":[208,249],"human":[210],"walking.":[211],"measurement":[214],"integrated":[216],"particle":[219],"filter":[220],"estimate":[222],"current":[224],"factor":[226],"3D":[229],"estimation":[231],"its":[233],"true":[234],"evaluated":[237],"our":[238],"image":[241],"sequences":[242],"acquired":[243],"while":[244],"person":[246],"walks.":[247],"Our":[248],"show":[250],"proposed":[253],"able":[256],"cope":[258],"drift.":[261]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}