{"id":"https://openalex.org/W3130023978","doi":"https://doi.org/10.1109/iros45743.2020.9340805","title":"From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs","display_name":"From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130023978","doi":"https://doi.org/10.1109/iros45743.2020.9340805","mag":"3130023978"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5013459686","display_name":"Charlotte Arndt","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/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE","ES"],"is_corresponding":true,"raw_author_name":"Charlotte Arndt","raw_affiliation_strings":["Coorporate Research, Robert Bosch GmbH, Hildesheim, Germany","Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Coorporate Research, Robert Bosch GmbH, Hildesheim, Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076776379","display_name":"Reza Sabzevari","orcid":"https://orcid.org/0000-0002-6309-5890"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Reza Sabzevari","raw_affiliation_strings":["Coorporate Research, Robert Bosch GmbH, Hildesheim, Germany"],"affiliations":[{"raw_affiliation_string":"Coorporate Research, Robert Bosch GmbH, Hildesheim, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077355742","display_name":"Javier Civera","orcid":"https://orcid.org/0000-0003-1368-1151"},"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"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Civera","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013459686"],"corresponding_institution_ids":["https://openalex.org/I255234318","https://openalex.org/I889804353"],"apc_list":null,"apc_paid":null,"fwci":5.1774,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.9490613,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"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":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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"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":0.9959999918937683,"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/monocular","display_name":"Monocular","score":0.7300609946250916},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7113157510757446},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.6454645395278931},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6444928050041199},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6135305762290955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6045304536819458},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5903534889221191},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5696174502372742},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5399795174598694},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5230039954185486},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.4736807644367218},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23928195238113403},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12154141068458557},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08761587738990784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07651552557945251},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06286826729774475}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7300609946250916},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7113157510757446},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.6454645395278931},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6444928050041199},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6135305762290955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6045304536819458},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5903534889221191},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5696174502372742},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5399795174598694},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5230039954185486},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.4736807644367218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23928195238113403},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12154141068458557},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08761587738990784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07651552557945251},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06286826729774475},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"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":30,"referenced_works":["https://openalex.org/W969383841","https://openalex.org/W1531532259","https://openalex.org/W1592619852","https://openalex.org/W1977259876","https://openalex.org/W1997452076","https://openalex.org/W2006934542","https://openalex.org/W2021851106","https://openalex.org/W2060772243","https://openalex.org/W2061637641","https://openalex.org/W2081501943","https://openalex.org/W2162731263","https://openalex.org/W2210972093","https://openalex.org/W2411681238","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2566881119","https://openalex.org/W2738596250","https://openalex.org/W2886388988","https://openalex.org/W2938672559","https://openalex.org/W2954772682","https://openalex.org/W2963225136","https://openalex.org/W2967664003","https://openalex.org/W3098467253","https://openalex.org/W3100207723","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W6715145103","https://openalex.org/W6753856400","https://openalex.org/W6754127160"],"related_works":["https://openalex.org/W4206327962","https://openalex.org/W200819717","https://openalex.org/W2010009304","https://openalex.org/W28570768","https://openalex.org/W2032269556","https://openalex.org/W1996851061","https://openalex.org/W2912965286","https://openalex.org/W3021694725","https://openalex.org/W2006117736","https://openalex.org/W2980723633"],"abstract_inverted_index":{"Planar":[0],"structures":[1],"are":[2],"common":[3],"in":[4,16,38,69,118],"man-made":[5],"environments.":[6],"Their":[7],"addition":[8],"to":[9,18,49,56,66,78,95],"monocular":[10,59,137],"SLAM":[11],"algorithms":[12],"is":[13],"of":[14,81,90,100,121],"relevance":[15],"order":[17],"achieve":[19],"more":[20],"complete":[21],"and":[22,53,128],"higher-":[23],"level":[24],"scene":[25],"representations.":[26],"Also,":[27],"the":[28,35,70,79,82,88,91],"additional":[29],"constraints":[30,55],"they":[31,72],"introduce":[32],"might":[33],"reduce":[34],"estimation":[36],"errors":[37],"certain":[39],"situations.":[40],"In":[41],"this":[42],"paper":[43],"we":[44,62,109],"present":[45],"a":[46],"novel":[47],"formulation":[48],"incorporate":[50,96],"plane":[51,71,126],"landmarks":[52],"planar":[54],"feature-":[57],"based":[58],"SLAM.":[60,138],"Specifically,":[61],"enforce":[63],"in-plane":[64],"points":[65],"lie":[67],"exactly":[68],"belong":[73],"to,":[74],"propagating":[75],"such":[76],"information":[77,102],"rest":[80],"states.":[83],"Our":[84],"formulation,":[85],"differently":[86],"from":[87],"state":[89],"art,":[92],"allows":[93],"us":[94],"general":[97],"planes,":[98],"independently":[99],"depth":[101],"or":[103],"CNN":[104],"segmentation":[105],"being":[106],"available":[107],"(although":[108],"could":[110],"also":[111],"use":[112],"them).":[113],"We":[114],"evaluate":[115],"our":[116],"method":[117],"several":[119],"sequences":[120],"public":[122],"databases,":[123],"showing":[124],"accurate":[125],"estimations":[127],"pose":[129],"accuracy":[130],"on":[131],"par":[132],"with":[133],"state-":[134],"of-the-art":[135],"point-only":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}