{"id":"https://openalex.org/W2565712281","doi":"https://doi.org/10.1109/itsc.2016.7795703","title":"Flow-decoupled normalized reprojection error for visual odometry","display_name":"Flow-decoupled normalized reprojection error for visual odometry","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2565712281","doi":"https://doi.org/10.1109/itsc.2016.7795703","mag":"2565712281"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2016.7795703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2016.7795703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","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/A5102277941","display_name":"Martin Buczko","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Martin Buczko","raw_affiliation_strings":["TU Darmstadt, Control Methods and Robotics Lab, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt, Control Methods and Robotics Lab, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001777411","display_name":"Volker Willert","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Volker Willert","raw_affiliation_strings":["TU Darmstadt, Control Methods and Robotics Lab, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt, Control Methods and Robotics Lab, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102277941"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":3.041,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.94626403,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2016","issue":null,"first_page":"1161","last_page":"1167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9987999796867371,"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/reprojection-error","display_name":"Reprojection error","score":0.8735597133636475},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.7559473514556885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6785052418708801},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6687752604484558},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6404674053192139},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6323131918907166},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6156702041625977},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5005369186401367},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4440366327762604},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4374552369117737},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.43065398931503296},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.42574092745780945},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40226441621780396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16532829403877258},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0906047523021698}],"concepts":[{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.8735597133636475},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7559473514556885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6785052418708801},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6687752604484558},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6404674053192139},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6323131918907166},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6156702041625977},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5005369186401367},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4440366327762604},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4374552369117737},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.43065398931503296},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42574092745780945},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40226441621780396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16532829403877258},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0906047523021698},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc.2016.7795703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2016.7795703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"mag:2745846046","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702230318728956","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1522911029","https://openalex.org/W1565206031","https://openalex.org/W1588720062","https://openalex.org/W1970504153","https://openalex.org/W1999350500","https://openalex.org/W2012319351","https://openalex.org/W2031998160","https://openalex.org/W2073724730","https://openalex.org/W2096901547","https://openalex.org/W2123498684","https://openalex.org/W2130103520","https://openalex.org/W2144297066","https://openalex.org/W2150066425","https://openalex.org/W2151844982","https://openalex.org/W2161779787","https://openalex.org/W2168676389","https://openalex.org/W2505801897","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W3135923011","https://openalex.org/W2945361206","https://openalex.org/W4220724086","https://openalex.org/W3098068165","https://openalex.org/W4297031564","https://openalex.org/W2296147781","https://openalex.org/W2956958956","https://openalex.org/W2950629728","https://openalex.org/W4288281616","https://openalex.org/W3004355449"],"abstract_inverted_index":{"In":[0],"this":[1,79],"paper,":[2],"we":[3,46,90],"present":[4,91],"an":[5],"iterative":[6],"two-stage":[7],"scheme":[8],"for":[9,86,98,113,153],"precise":[10],"and":[11,28,103,146,151,180],"robust":[12,141],"frame-to-frame":[13],"feature-based":[14],"ego-motion":[15],"estimation":[16],"using":[17,71],"stereo":[18],"cameras.":[19],"We":[20],"analyze":[21],"the":[22,25,38,49,65,68,76,114,120,124,128,135,159,173,186],"characteristics":[23,51],"of":[24,37,42,52,67,75,172,190],"optical":[26,55],"flows":[27,56],"reprojection":[29,60,77],"errors":[30],"that":[31,62,116],"are":[32,106],"independently":[33],"induced":[34,54,118],"by":[35,111,119],"each":[36],"decoupled":[39,87],"six":[40],"degrees":[41],"freedom":[43],"motion.":[44],"As":[45],"will":[47],"show,":[48],"different":[50],"these":[53,96],"lead":[57],"to":[58,94,148,164],"a":[59,72,92,140],"error":[61,189],"depends":[63],"on":[64,177],"coordinates":[66],"features.":[69],"When":[70],"proper":[73],"normalization":[74],"error,":[78],"coordinate-dependency":[80],"can":[81],"be":[82],"almost":[83,165],"completely":[84],"removed":[85],"motions.":[88,157,169],"Furthermore,":[89],"way":[93],"use":[95],"results":[97],"automotive":[99,168],"application":[100],"where":[101,139],"rotation":[102],"forward":[104,155],"motion":[105],"coupled.":[107],"This":[108],"is":[109,117,175],"done":[110],"compensating":[112],"flow":[115,126],"rotation,":[121],"which":[122],"decouples":[123],"translation":[125,156,188],"from":[127],"overall":[129],"flow.":[130],"The":[131,170],"resulting":[132],"method":[133,161,174],"generalizes":[134,162],"ROCC":[136,163],"approach":[137],"[4],":[138],"outlier":[142],"criterion":[143],"was":[144],"introduced":[145],"proved":[147],"increase":[149],"robustness":[150],"quality":[152],"large":[154],"Therewith":[158],"proposed":[160],"all":[166,191],"possible":[167],"performance":[171],"evaluated":[176],"Kitti":[178],"benchmark":[179],"currently":[181],"<sup":[182],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[183],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[184],"reaches":[185],"best":[187],"camera-based":[192],"methods.":[193]},"counts_by_year":[{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}