{"id":"https://openalex.org/W2151290401","doi":"https://doi.org/10.1109/ismar.2007.4538852","title":"Parallel Tracking and Mapping for Small AR Workspaces","display_name":"Parallel Tracking and Mapping for Small AR Workspaces","publication_year":2007,"publication_date":"2007-11-01","ids":{"openalex":"https://openalex.org/W2151290401","doi":"https://doi.org/10.1109/ismar.2007.4538852","mag":"2151290401"},"language":"en","primary_location":{"id":"doi:10.1109/ismar.2007.4538852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2007.4538852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality","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/A5060921138","display_name":"Georg Klein","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Georg Klein","raw_affiliation_strings":["Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101402996","display_name":"David W. Murray","orcid":"https://orcid.org/0000-0001-5309-5080"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David Murray","raw_affiliation_strings":["Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060921138"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":1839.6038,"has_fulltext":false,"cited_by_count":4232,"citation_normalized_percentile":{"value":0.99999438,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"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/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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8232181072235107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7953559160232544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7363308072090149},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6838868260383606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.679122805595398},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.6279008388519287},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5666380524635315},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.49303433299064636},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4655267596244812},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4636813998222351},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.43200957775115967},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.34625867009162903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2513759136199951},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.23755484819412231},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2039029896259308}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8232181072235107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7953559160232544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7363308072090149},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6838868260383606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.679122805595398},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.6279008388519287},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5666380524635315},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.49303433299064636},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4655267596244812},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4636813998222351},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.43200957775115967},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.34625867009162903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2513759136199951},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.23755484819412231},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2039029896259308},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ismar.2007.4538852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2007.4538852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:f04988ef-93b6-4b92-86ec-12cae4bf8304","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:f04988ef-93b6-4b92-86ec-12cae4bf8304","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements at Oxford","raw_type":"Conference"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W36923225","https://openalex.org/W1532362218","https://openalex.org/W1536525649","https://openalex.org/W1836764070","https://openalex.org/W1894642627","https://openalex.org/W1908077923","https://openalex.org/W1990012555","https://openalex.org/W2029318526","https://openalex.org/W2033819227","https://openalex.org/W2071355416","https://openalex.org/W2085261163","https://openalex.org/W2096503284","https://openalex.org/W2103393159","https://openalex.org/W2107402720","https://openalex.org/W2121308169","https://openalex.org/W2121985953","https://openalex.org/W2123151876","https://openalex.org/W2124321582","https://openalex.org/W2125206186","https://openalex.org/W2130103520","https://openalex.org/W2132732030","https://openalex.org/W2148202683","https://openalex.org/W2150495450","https://openalex.org/W2152671441","https://openalex.org/W2156363883","https://openalex.org/W2161985931","https://openalex.org/W2166644671","https://openalex.org/W2171778162","https://openalex.org/W2296147781","https://openalex.org/W2489822048","https://openalex.org/W4235683258","https://openalex.org/W6631707545","https://openalex.org/W6632071462","https://openalex.org/W6639617718","https://openalex.org/W6668322159","https://openalex.org/W6675456536","https://openalex.org/W6679388247","https://openalex.org/W6683308603"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"This":[0,89],"paper":[1],"presents":[2],"a":[3,29,35,39,59,78,108],"method":[4],"of":[5,68,81,93,116,131],"estimating":[6],"camera":[7,37],"pose":[8],"in":[9,38,55],"an":[10,125],"unknown":[11],"scene.":[12],"While":[13],"this":[14],"has":[15],"previously":[16,85],"been":[17],"attempted":[18],"by":[19],"adapting":[20],"SLAM":[21],"algorithms":[22],"developed":[23],"for":[24],"robotic":[25],"exploration,":[26],"we":[27],"propose":[28,44],"system":[30,109],"specifically":[31],"designed":[32],"to":[33,45],"track":[34],"hand-held":[36,72],"small":[40],"AR":[41],"workspace.":[42],"We":[43],"split":[46],"tracking":[47,70],"and":[48,127],"mapping":[49],"into":[50],"two":[51],"separate":[52],"tasks,":[53],"processed":[54],"parallel":[56],"threads":[57],"on":[58],"dual-core":[60],"computer:":[61],"one":[62],"thread":[63],"deals":[64],"with":[65,102,114,124],"the":[66,75,91],"task":[67],"robustly":[69],"erratic":[71],"motion,":[73],"while":[74],"other":[76],"produces":[77,111],"3D":[79],"map":[80],"point":[82],"features":[83],"from":[84],"observed":[86],"video":[87],"frames.":[88],"allows":[90],"use":[92],"computationally":[94],"expensive":[95],"batch":[96],"optimisation":[97],"techniques":[98],"not":[99],"usually":[100],"associated":[101],"real-time":[103],"operation:":[104],"The":[105],"result":[106],"is":[107],"that":[110,130],"detailed":[112],"maps":[113],"thousands":[115],"landmarks":[117],"which":[118],"can":[119],"be":[120],"tracked":[121],"at":[122],"frame-rate,":[123],"accuracy":[126],"robustness":[128],"rivalling":[129],"state-of-the-art":[132],"model-based":[133],"systems.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":22},{"year":2025,"cited_by_count":185},{"year":2024,"cited_by_count":249},{"year":2023,"cited_by_count":265},{"year":2022,"cited_by_count":274},{"year":2021,"cited_by_count":298},{"year":2020,"cited_by_count":312},{"year":2019,"cited_by_count":345},{"year":2018,"cited_by_count":355},{"year":2017,"cited_by_count":319},{"year":2016,"cited_by_count":263},{"year":2015,"cited_by_count":312},{"year":2014,"cited_by_count":237},{"year":2013,"cited_by_count":252},{"year":2012,"cited_by_count":174}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}