{"id":"https://openalex.org/W2774597315","doi":"https://doi.org/10.1109/iros.2017.8205969","title":"A 2-point pose estimation algorithm for monocular visual odometry of ground vehicles","display_name":"A 2-point pose estimation algorithm for monocular visual odometry of ground vehicles","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774597315","doi":"https://doi.org/10.1109/iros.2017.8205969","mag":"2774597315"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5028677670","display_name":"Yanyan Gao","orcid":"https://orcid.org/0000-0002-5970-8287"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanyan Gao","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326425","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0002-0123-5165"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101643165","display_name":"Kaixiang Zhang","orcid":"https://orcid.org/0000-0002-4361-0955"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaixiang Zhang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081334927","display_name":"Bingxi Jia","orcid":"https://orcid.org/0000-0002-9803-238X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingxi Jia","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028677670"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.0888,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84782918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"pp","issue":null,"first_page":"1610","last_page":"1615"},"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":0.9998000264167786,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.998199999332428,"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/visual-odometry","display_name":"Visual odometry","score":0.865668773651123},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7537126541137695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7497698664665222},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7120221853256226},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6734133958816528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6024094820022583},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5578775405883789},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.546291172504425},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5423193573951721},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4843810498714447},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4579116702079773},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.4572574198246002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29964327812194824},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22017571330070496}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.865668773651123},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7537126541137695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7497698664665222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7120221853256226},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6734133958816528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6024094820022583},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5578775405883789},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.546291172504425},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5423193573951721},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4843810498714447},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4579116702079773},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.4572574198246002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29964327812194824},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22017571330070496},{"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.2017.8205969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W195290739","https://openalex.org/W343450765","https://openalex.org/W612478963","https://openalex.org/W1496447336","https://openalex.org/W1499828956","https://openalex.org/W2001836169","https://openalex.org/W2015996585","https://openalex.org/W2029143333","https://openalex.org/W2033819227","https://openalex.org/W2035455072","https://openalex.org/W2039982410","https://openalex.org/W2063247621","https://openalex.org/W2069829158","https://openalex.org/W2109635530","https://openalex.org/W2115601136","https://openalex.org/W2150066425","https://openalex.org/W2150495450","https://openalex.org/W2165584048","https://openalex.org/W2219787495","https://openalex.org/W2474281075","https://openalex.org/W2561721180","https://openalex.org/W6611559585","https://openalex.org/W6618872416","https://openalex.org/W6721610202"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","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":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,16,155],"2-point":[4],"algorithm":[5,56,92,117,142,148],"for":[6,149],"relative":[7,39],"pose":[8,41],"estimation":[9],"of":[10,114,158],"monocular":[12,150],"camera":[13,40],"mounted":[14],"on":[15,34,76,131],"ground":[17],"vehicle.":[18],"Specifically,":[19],"the":[20,35,38,54,86,90,111,115,136,140],"geometric":[21],"model":[22],"is":[23,93,121],"developed":[24],"by":[25],"combining":[26],"two-view":[27],"geometry":[28],"with":[29,47,61,95],"planar":[30,72],"motion":[31,120],"constraint.":[32],"Based":[33],"proposed":[36,55,91,116,141],"model,":[37],"information":[42],"can":[43,57,67],"be":[44,68],"estimated":[45],"efficiently":[46],"at":[48],"least":[49],"2":[50],"feature":[51],"correspondences.":[52],"Besides,":[53],"recover":[58],"rotation":[59,66],"independently":[60],"translation":[62],"so":[63],"that":[64,139],"pure":[65],"computed":[69],"stably":[70],"under":[71],"motion.":[73],"Both":[74],"experiments":[75],"synthetic":[77,87],"data":[78,88],"and":[79,104,135,153],"in":[80],"real":[81],"world":[82],"are":[83,127],"presented.":[84],"In":[85,109],"experiments,":[89],"compared":[94],"other":[96],"well-known":[97],"algorithms":[98],"to":[99,106,118],"illustrate":[100],"its":[101],"high":[102],"accuracy":[103],"robustness":[105,113],"image":[107],"noise.":[108],"addition,":[110],"great":[112],"nonplanar":[119],"demonstrated":[122],"as":[123],"well.":[124],"Furthermore,":[125],"experiment":[126],"carried":[128],"out":[129],"based":[130],"KITTI":[132],"Vision":[133],"Benchmark,":[134],"result":[137],"indicates":[138],"has":[143,154],"better":[144],"performance":[145],"than":[146],"5-point":[147],"visual":[151],"odometry":[152],"wide":[156],"range":[157],"applicability.":[159]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}