{"id":"https://openalex.org/W2199268084","doi":"https://doi.org/10.1109/isc2.2015.7366224","title":"A stereo visual odometry based on SURF feature and three consecutive frames","display_name":"A stereo visual odometry based on SURF feature and three consecutive frames","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2199268084","doi":"https://doi.org/10.1109/isc2.2015.7366224","mag":"2199268084"},"language":"en","primary_location":{"id":"doi:10.1109/isc2.2015.7366224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isc2.2015.7366224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE First International Smart Cities Conference (ISC2)","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/A5002346706","display_name":"Yong Ren","orcid":"https://orcid.org/0000-0003-0312-9371"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Ren","raw_affiliation_strings":["Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039964552","display_name":"Xudong Xie","orcid":"https://orcid.org/0000-0002-5932-1496"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Xie","raw_affiliation_strings":["Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101570773","display_name":"Jianming Hu","orcid":"https://orcid.org/0000-0001-8065-7309"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianming Hu","raw_affiliation_strings":["Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765837","display_name":"Zhiheng Li","orcid":"https://orcid.org/0000-0002-1523-1114"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiheng Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]}],"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":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"5"},"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991000294685364,"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":0.916775107383728},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8430062532424927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8384290337562561},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7070537805557251},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.628725528717041},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5820878744125366},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5408715009689331},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4977848529815674},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4886496365070343},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47177696228027344},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4704992473125458},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4628640115261078},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2422875463962555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21646490693092346},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17000079154968262}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.916775107383728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8430062532424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8384290337562561},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7070537805557251},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.628725528717041},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5820878744125366},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5408715009689331},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4977848529815674},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4886496365070343},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47177696228027344},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4704992473125458},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4628640115261078},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2422875463962555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21646490693092346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17000079154968262},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isc2.2015.7366224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isc2.2015.7366224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE First International Smart Cities Conference (ISC2)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1531122638","https://openalex.org/W1532362218","https://openalex.org/W1570293554","https://openalex.org/W1639227073","https://openalex.org/W1677409904","https://openalex.org/W1836839941","https://openalex.org/W2000260571","https://openalex.org/W2015996585","https://openalex.org/W2043853176","https://openalex.org/W2063599328","https://openalex.org/W2069635875","https://openalex.org/W2119296827","https://openalex.org/W2124313187","https://openalex.org/W2130103520","https://openalex.org/W2137099572","https://openalex.org/W2151103935","https://openalex.org/W2159568070","https://openalex.org/W2162703295","https://openalex.org/W2166849501","https://openalex.org/W2167667767","https://openalex.org/W2168676389","https://openalex.org/W2315625130","https://openalex.org/W4243425824","https://openalex.org/W6631707545","https://openalex.org/W6637400245","https://openalex.org/W6678941962","https://openalex.org/W6680408589","https://openalex.org/W6682431704"],"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/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Visual":[0],"Odometry":[1],"is":[2,38,55,68,83,101,124],"the":[3,48,86,117,147,151],"process":[4,87],"of":[5,10,42,51,73,79,88,108,131],"estimating":[6,120],"6":[7],"DOF":[8],"motion":[9,119],"a":[11,15,58],"vehicle":[12],"equipped":[13],"with":[14],"single":[16],"or":[17],"multiple":[18],"cameras.":[19],"This":[20],"technique":[21],"has":[22],"many":[23],"potential":[24],"applications,":[25],"such":[26],"as":[27],"autonomous":[28],"navigation":[29],"and":[30,57,90,150],"driving":[31],"assistant":[32],"in":[33,64,85,116],"intelligent":[34],"transportation":[35],"field,":[36],"which":[37],"an":[39,154],"important":[40],"part":[41],"smart":[43],"city.":[44],"In":[45],"this":[46,74],"paper,":[47],"basic":[49],"framework":[50],"stereo":[52,80],"visual":[53],"odometry":[54],"reviewed,":[56],"new":[59],"3D":[60,122],"position":[61,123],"estimation":[62,157],"method":[63,145],"three":[65,104,127],"consecutive":[66,105,128],"frames":[67,106,111,129],"proposed.":[69],"The":[70],"main":[71],"contributions":[72],"paper":[75],"include:":[76],"(1)":[77],"SURF":[78],"image":[81],"sequences":[82],"used":[84],"detecting":[89],"matching":[91,97,100],"features;":[92],"(2)":[93],"by":[94],"saving":[95],"historical":[96],"result,":[98],"feature":[99],"performed":[102],"on":[103,146],"instead":[107,130],"just":[109,132],"two":[110,133],"without":[112],"additional":[113],"computation;":[114],"(3)":[115],"3D-to-2D":[118],"step,":[121],"estimated":[125],"from":[126],"frames,":[134],"thereby":[135],"we":[136],"can":[137],"obtain":[138],"more":[139],"accurate":[140,155],"results.":[141],"We":[142],"apply":[143],"our":[144],"KITTI":[148],"datasets,":[149],"results":[152],"show":[153],"trajectory":[156],"over":[158],"several":[159],"hundred":[160],"meters.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}