{"id":"https://openalex.org/W2565741381","doi":"https://doi.org/10.1109/iros.2016.7759534","title":"Recovering relative orientation and scale from visual odometry and ranging radio measurements","display_name":"Recovering relative orientation and scale from visual odometry and ranging radio measurements","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565741381","doi":"https://doi.org/10.1109/iros.2016.7759534","mag":"2565741381"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5065505359","display_name":"Armon Shariati","orcid":"https://orcid.org/0000-0003-1812-6675"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Armon Shariati","raw_affiliation_strings":["GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030457220","display_name":"Kartik Mohta","orcid":"https://orcid.org/0000-0002-0932-6475"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kartik Mohta","raw_affiliation_strings":["GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camillo J. Taylor","raw_affiliation_strings":["GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory at the University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3627","last_page":"3633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.8933428525924683},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8746615648269653},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6694526076316833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6517731547355652},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6385577321052551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5949392318725586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5799136757850647},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5761253833770752},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5287449359893799},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.47087299823760986},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44462764263153076},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4332352578639984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42702823877334595},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4206016957759857},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3723837435245514},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2658974230289459},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2546132206916809},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10182136297225952},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08361655473709106},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06965947151184082}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.8933428525924683},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8746615648269653},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6694526076316833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517731547355652},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6385577321052551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5949392318725586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5799136757850647},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5761253833770752},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5287449359893799},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.47087299823760986},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44462764263153076},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4332352578639984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42702823877334595},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4206016957759857},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3723837435245514},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2658974230289459},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2546132206916809},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10182136297225952},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08361655473709106},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06965947151184082},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1179945388","https://openalex.org/W1491420830","https://openalex.org/W1612997784","https://openalex.org/W1971222568","https://openalex.org/W2049444669","https://openalex.org/W2161249924","https://openalex.org/W2165295831","https://openalex.org/W2296319761","https://openalex.org/W3103648783","https://openalex.org/W4250589301","https://openalex.org/W6629591201"],"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":[3,51,80,96],"propose":[4,97],"a":[5,16,85,90],"new":[6],"approach":[7],"to":[8,54,89,115],"recovering":[9],"the":[10,22,26,69,106,109,118],"relative":[11],"position":[12],"and":[13,95,100],"orientation":[14],"of":[15,18,28,49,92,108],"pair":[17],"platforms":[19],"moving":[20],"on":[21,123],"plane":[23],"by":[24,31],"fusing":[25],"kinds":[27],"estimates":[29,56],"provided":[30,114],"visual":[32],"odometry":[33],"systems":[34],"with":[35],"distance":[36],"measurements":[37],"obtained":[38,61],"from":[39],"ranging":[40],"radio":[41],"systems.":[42],"By":[43],"combining":[44],"these":[45],"two":[46],"complementary":[47],"sources":[48],"information":[50],"are":[52,81,113],"able":[53],"provide":[55],"that":[57,68,104,117],"could":[58],"not":[59],"be":[60,73],"using":[62],"either":[63],"source":[64],"separately.":[65],"We":[66],"show":[67],"localization":[70],"problem":[71,78],"can":[72],"phrased":[74],"as":[75],"an":[76,98],"optimization":[77],"where":[79],"interested":[82],"in":[83],"maximizing":[84],"convex":[86,93],"function":[87],"subject":[88],"set":[91],"constraints":[94],"efficient":[99],"effective":[101],"solution":[102],"scheme":[103],"leverages":[105],"structure":[107],"problem.":[110],"Experimental":[111],"results":[112],"demonstrate":[116],"proposed":[119],"method":[120],"performs":[121],"creditably":[122],"actual":[124],"robotic":[125],"platforms.":[126]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}