{"id":"https://openalex.org/W2063657487","doi":"https://doi.org/10.1109/ismar.2010.5643567","title":"Positioning, tracking and mapping for outdoor augmentation","display_name":"Positioning, tracking and mapping for outdoor augmentation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2063657487","doi":"https://doi.org/10.1109/ismar.2010.5643567","mag":"2063657487"},"language":"en","primary_location":{"id":"doi:10.1109/ismar.2010.5643567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2010.5643567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE 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/A5061981049","display_name":"Jayashree Karlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jayashree Karlekar","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009569110","display_name":"Steven Zhiying Zhou","orcid":"https://orcid.org/0000-0001-8455-1915"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Steven ZhiYing Zhou","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009836444","display_name":"Weiquan Lu","orcid":"https://orcid.org/0000-0001-8572-0055"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Weiquan Lu","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042669546","display_name":"Zhi Chang Loh","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhi Chang Loh","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041008926","display_name":"Yuta Nakayama","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuta Nakayama","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043806790","display_name":"Daniel Jun Chung Hii","orcid":"https://orcid.org/0000-0002-3732-1487"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Daniel Hii","raw_affiliation_strings":["Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Multimedia Laboratory, Department ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Interactive Multimedia Lab, Dept. ECE, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":137.7211,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99880203,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"175","last_page":"184"},"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":0.9983999729156494,"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":0.998199999332428,"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/computer-vision","display_name":"Computer vision","score":0.8153947591781616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7657924890518188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7407850027084351},{"id":"https://openalex.org/keywords/silhouette","display_name":"Silhouette","score":0.730644941329956},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.6645470857620239},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5105777382850647},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5019838809967041},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5001735687255859},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4789876937866211},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46244746446609497},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.43559902906417847},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4256178140640259},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.41534528136253357},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.41079020500183105},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3909703195095062},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3603437542915344},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.3199375569820404},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10765832662582397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10505843162536621}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8153947591781616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7657924890518188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7407850027084351},{"id":"https://openalex.org/C58103923","wikidata":"https://www.wikidata.org/wiki/Q2286025","display_name":"Silhouette","level":2,"score":0.730644941329956},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.6645470857620239},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5105777382850647},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5019838809967041},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5001735687255859},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4789876937866211},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46244746446609497},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.43559902906417847},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4256178140640259},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.41534528136253357},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.41079020500183105},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3909703195095062},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3603437542915344},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.3199375569820404},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10765832662582397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10505843162536621},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ismar.2010.5643567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismar.2010.5643567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Symposium on Mixed and Augmented Reality","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/46324","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/46324","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/71477","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/71477","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1583234911","https://openalex.org/W1991793962","https://openalex.org/W2044562173","https://openalex.org/W2054511520","https://openalex.org/W2057175746","https://openalex.org/W2058009001","https://openalex.org/W2099969393","https://openalex.org/W2100656575","https://openalex.org/W2110357983","https://openalex.org/W2111308925","https://openalex.org/W2111589119","https://openalex.org/W2116993057","https://openalex.org/W2118104180","https://openalex.org/W2121985953","https://openalex.org/W2122875641","https://openalex.org/W2123537152","https://openalex.org/W2123602159","https://openalex.org/W2125395390","https://openalex.org/W2125795712","https://openalex.org/W2130032257","https://openalex.org/W2136473294","https://openalex.org/W2148821982","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2155791759","https://openalex.org/W2160671527","https://openalex.org/W2162899364","https://openalex.org/W2166212176","https://openalex.org/W2169810989","https://openalex.org/W2172192658","https://openalex.org/W3003116549","https://openalex.org/W4248273018","https://openalex.org/W6634911696","https://openalex.org/W6676523649","https://openalex.org/W6773442420"],"related_works":["https://openalex.org/W1622964048","https://openalex.org/W30315714","https://openalex.org/W1906975550","https://openalex.org/W1532254823","https://openalex.org/W2091861768","https://openalex.org/W2509097639","https://openalex.org/W2089890195","https://openalex.org/W2162359940","https://openalex.org/W3048240333","https://openalex.org/W4395662203"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,45,80,146,157],"novel":[4],"approach":[5],"for":[6,15,33,135,198],"user":[7,22,39,86,183],"positioning,":[8],"robust":[9],"tracking":[10,91,114,125,177],"and":[11,27,57,74,120,156,176],"online":[12,172],"3D":[13,55,164,173,191],"mapping":[14,175,188],"outdoor":[16,196],"augmented":[17,34],"reality":[18,35],"applications.":[19],"As":[20],"coarse":[21],"pose":[23,40,147],"obtained":[24,149],"from":[25,139,150],"GPS":[26],"orientation":[28],"sensors":[29],"is":[30,41,60,87,92,115,126,178],"not":[31,170],"sufficient":[32],"applications,":[36],"sub-meter":[37],"accurate":[38],"then":[42],"estimated":[43],"by":[44,107,117],"one-step":[46],"silhouette":[47],"matching":[48,51,130],"approach.":[49,83],"Silhouette":[50],"of":[52,166,194],"the":[53,85,167,182,190,195],"rendered":[54],"model":[56],"camera":[58,96],"data":[59,97],"carried":[61,93],"out":[62,94],"with":[63,95,101,128],"shape":[64],"context":[65],"descriptors":[66],"as":[67],"they":[68],"are":[69,105,133,143,169],"invariant":[70],"to":[71,79,180],"translation,":[72],"scale":[73],"rotational":[75],"errors,":[76],"giving":[77],"rise":[78],"non-iterative":[81],"registration":[82],"Once":[84],"correctly":[88],"positioned,":[89],"further":[90],"alone.":[98],"Drifts":[99],"associated":[100],"vision":[102],"based":[103],"approaches":[104],"minimized":[106],"combining":[108],"different":[109],"feature":[110,122,141],"modalities.":[111],"Robust":[112],"visual":[113],"maintained":[116],"fusing":[118],"frame-to-frame":[119],"model-to-frame":[121,136],"matches.":[123],"Frame-to-frame":[124],"accomplished":[127],"corner":[129],"while":[131],"edges":[132],"used":[134],"registration.":[137],"Results":[138],"individual":[140],"tracker":[142],"fused":[144],"using":[145],"estimate":[148],"an":[151],"extended":[152],"Kalman":[153],"filter":[154],"(EKF)":[155],"weighted":[158],"M-estimator.":[159],"In":[160],"scenarios":[161],"where":[162],"dense":[163],"models":[165],"environment":[168,197],"available,":[171],"incremental":[174],"proposed":[179],"track":[181],"in":[184],"unprepared":[185],"environments.":[186],"Incremental":[187],"prepares":[189],"point":[192],"cloud":[193],"tracking.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
