{"id":"https://openalex.org/W3132511292","doi":"https://doi.org/10.1109/iros45743.2020.9341552","title":"Robust Ego and Object 6-DoF Motion Estimation and Tracking","display_name":"Robust Ego and Object 6-DoF Motion Estimation and Tracking","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132511292","doi":"https://doi.org/10.1109/iros45743.2020.9341552","mag":"3132511292"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341552","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/A5100433042","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-5579-7094"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Australian National University (ANU),Canberra,Australia,0020"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University (ANU),Canberra,Australia,0020","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085812754","display_name":"Mina Henein","orcid":"https://orcid.org/0000-0003-0534-4585"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mina Henein","raw_affiliation_strings":["Australian National University (ANU),Canberra,Australia,0020"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University (ANU),Canberra,Australia,0020","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097720","display_name":"Robert Mahony","orcid":"https://orcid.org/0000-0002-7803-2868"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Mahony","raw_affiliation_strings":["Australian National University (ANU),Canberra,Australia,0020"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University (ANU),Canberra,Australia,0020","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028642327","display_name":"Viorela Ila","orcid":"https://orcid.org/0000-0002-8137-0833"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Viorela Ila","raw_affiliation_strings":["Australian National University (ANU),Canberra,Australia,0020"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University (ANU),Canberra,Australia,0020","institution_ids":["https://openalex.org/I118347636"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2726,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.83063048,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5017","last_page":"5023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9990000128746033,"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-science","display_name":"Computer science","score":0.7669532895088196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7622829079627991},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7395824193954468},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7234455347061157},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6709140539169312},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6599142551422119},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.6230992078781128},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5499904155731201},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5269383192062378},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4719226360321045},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4699811041355133},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42368343472480774},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3471929430961609},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20910844206809998},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17427054047584534}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7669532895088196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7622829079627991},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7395824193954468},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7234455347061157},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6709140539169312},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6599142551422119},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.6230992078781128},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5499904155731201},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5269383192062378},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4719226360321045},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4699811041355133},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42368343472480774},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3471929430961609},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20910844206809998},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17427054047584534},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341552","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":[{"display_name":"Quality Education","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W55377555","https://openalex.org/W1513100184","https://openalex.org/W1532362218","https://openalex.org/W1861492603","https://openalex.org/W2015996585","https://openalex.org/W2053740312","https://openalex.org/W2056145819","https://openalex.org/W2068763856","https://openalex.org/W2076917298","https://openalex.org/W2085261163","https://openalex.org/W2150066425","https://openalex.org/W2155302366","https://openalex.org/W2259424905","https://openalex.org/W2397830550","https://openalex.org/W2417447115","https://openalex.org/W2505477118","https://openalex.org/W2535547924","https://openalex.org/W2560474170","https://openalex.org/W2584979312","https://openalex.org/W2784993470","https://openalex.org/W2788608285","https://openalex.org/W2950629728","https://openalex.org/W2963150697","https://openalex.org/W2963345294","https://openalex.org/W2963782415","https://openalex.org/W3091727808","https://openalex.org/W3100388886","https://openalex.org/W3102327032","https://openalex.org/W3103887859","https://openalex.org/W4243347666","https://openalex.org/W6602300173","https://openalex.org/W6630726011","https://openalex.org/W6631707545","https://openalex.org/W6639102338","https://openalex.org/W6712616374","https://openalex.org/W6750650002"],"related_works":["https://openalex.org/W2972219788","https://openalex.org/W1981778017","https://openalex.org/W607586325","https://openalex.org/W2956958956","https://openalex.org/W2950629728","https://openalex.org/W4288281616","https://openalex.org/W3004355449","https://openalex.org/W3168932133","https://openalex.org/W2171008136","https://openalex.org/W2610028676"],"abstract_inverted_index":{"The":[0,92],"problem":[1],"of":[2,9,83,119],"tracking":[3],"self-motion":[4],"as":[5,7,21],"well":[6],"motion":[8,73,89],"objects":[10],"in":[11,58],"the":[12,81,84,88,98,105,117,120,124],"scene":[13],"using":[14],"information":[15],"from":[16],"a":[17,27,33],"camera":[18],"is":[19,26,53,77,95],"known":[20],"multi-body":[22,45],"visual":[23,46],"odometry":[24],"and":[25,40,50,62,74,87,102],"challenging":[28],"task.":[29],"This":[30],"paper":[31],"proposes":[32],"robust":[34],"solution":[35],"to":[36,112],"achieve":[37],"accurate":[38,63],"estimation":[39,90],"consistent":[41],"track-ability":[42],"for":[43],"dynamic":[44],"odometry.":[47],"A":[48,67],"compact":[49],"effective":[51],"framework":[52],"proposed":[54,93],"leveraging":[55],"recent":[56],"advances":[57],"semantic":[59],"instance-level":[60],"segmentation":[61],"optical":[64,75],"flow":[65,76],"estimation.":[66],"novel":[68],"formulation,":[69],"jointly":[70],"optimizing":[71],"SE(3)":[72],"introduced":[78],"that":[79],"improves":[80],"quality":[82],"tracked":[85],"points":[86],"accuracy.":[91],"approach":[94],"evaluated":[96],"on":[97,104],"virtual":[99],"KITTI":[100,107],"Dataset":[101],"tested":[103],"real":[106],"Dataset,":[108],"demonstrating":[109],"its":[110],"applicability":[111],"autonomous":[113],"driving":[114],"applications.":[115],"For":[116],"benefit":[118],"community,":[121],"we":[122],"make":[123],"source":[125],"code":[126],"public":[127],"<sup":[128],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u2020</sup>":[130],".":[131]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
