{"id":"https://openalex.org/W2571164974","doi":"https://doi.org/10.1109/ivcnz.2016.7804433","title":"Lidar guided stereo simultaneous localization and mapping (SLAM) for UAV outdoor 3-D scene reconstruction","display_name":"Lidar guided stereo simultaneous localization and mapping (SLAM) for UAV outdoor 3-D scene reconstruction","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2571164974","doi":"https://doi.org/10.1109/ivcnz.2016.7804433","mag":"2571164974"},"language":"en","primary_location":{"id":"doi:10.1109/ivcnz.2016.7804433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivcnz.2016.7804433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Image and Vision Computing New Zealand (IVCNZ)","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/A5056560052","display_name":"Trevor Gee","orcid":"https://orcid.org/0000-0001-5554-7300"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Trevor Gee","raw_affiliation_strings":["Department of Computer Science, University of Auckland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Auckland","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081211841","display_name":"Jason James","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Jason James","raw_affiliation_strings":["Department of Computer Science, University of Auckland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Auckland","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110879496","display_name":"Wannes van der Mark","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Wannes Van Der Mark","raw_affiliation_strings":["Department of Computer Science, University of Auckland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Auckland","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047114006","display_name":"Patrice Delmas","orcid":"https://orcid.org/0000-0002-0235-4596"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Patrice Delmas","raw_affiliation_strings":["Department of Computer Science, University of Auckland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Auckland","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114377140","display_name":"Georgy Gimel\u2019farb","orcid":"https://orcid.org/0000-0003-2120-9391"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Georgy Gimel'farb","raw_affiliation_strings":["Department of Computer Science, University of Auckland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Auckland","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5056560052"],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":2.2419,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.86707194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"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/lidar","display_name":"Lidar","score":0.9373219013214111},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8471338748931885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.693079948425293},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6897614598274231},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6628049612045288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6456941366195679},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.6082702875137329},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5454363226890564},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5126394629478455},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4842512309551239},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4525834321975708},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2809624671936035},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.1863335371017456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14393532276153564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14208939671516418},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1264585256576538},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10991120338439941},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0749182403087616}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9373219013214111},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8471338748931885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.693079948425293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6897614598274231},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6628049612045288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6456941366195679},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.6082702875137329},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5454363226890564},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5126394629478455},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4842512309551239},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4525834321975708},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2809624671936035},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.1863335371017456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14393532276153564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14208939671516418},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1264585256576538},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10991120338439941},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0749182403087616},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivcnz.2016.7804433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivcnz.2016.7804433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Image and Vision Computing New Zealand (IVCNZ)","raw_type":"proceedings-article"},{"id":"pmh:oai:researchspace.auckland.ac.nz:2292/42886","is_oa":false,"landing_page_url":"https://hdl.handle.net/2292/42886","pdf_url":null,"source":{"id":"https://openalex.org/S7407055463","display_name":"ResearchSpace (University of Auckland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I154130895","host_organization_name":"University of Auckland","host_organization_lineage":["https://openalex.org/I154130895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W28779930","https://openalex.org/W145691285","https://openalex.org/W1496762638","https://openalex.org/W1571970334","https://openalex.org/W1635195855","https://openalex.org/W1976275430","https://openalex.org/W1987648924","https://openalex.org/W1988874269","https://openalex.org/W2001618165","https://openalex.org/W2004498015","https://openalex.org/W2008477163","https://openalex.org/W2019545415","https://openalex.org/W2031850322","https://openalex.org/W2047598977","https://openalex.org/W2065980739","https://openalex.org/W2069209512","https://openalex.org/W2085261163","https://openalex.org/W2104853049","https://openalex.org/W2124535811","https://openalex.org/W2128052895","https://openalex.org/W2130103520","https://openalex.org/W2154659010","https://openalex.org/W2156307516","https://openalex.org/W2164976328","https://openalex.org/W2165558283","https://openalex.org/W2247810280","https://openalex.org/W2997017298","https://openalex.org/W3022136271","https://openalex.org/W4229607849","https://openalex.org/W4244225476","https://openalex.org/W6601211092","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2922939509","https://openalex.org/W3130706162","https://openalex.org/W2811307883","https://openalex.org/W2281664702","https://openalex.org/W3089365509"],"abstract_inverted_index":{"Lidars":[0],"can":[1],"be":[2],"extremely":[3],"useful":[4],"tools":[5],"for":[6,16],"measuring":[7],"outdoor":[8],"geometry.":[9],"However":[10],"while":[11],"lidar":[12,38,46,60,122,137],"measurements":[13,181],"are":[14,23,169],"championed":[15],"their":[17,20],"high":[18],"accuracy":[19,118],"point":[21,39,52,85,113],"clouds":[22,40],"individually":[24],"rather":[25],"sparse":[26,35],"and":[27,68,72,102,138,149,173],"lack":[28],"colour":[29],"information.":[30],"In":[31],"this":[32],"work":[33],"the":[34,59,117,120,166,184],"nature":[36],"of":[37,66,84,119,144,153,161,179],"is":[41,55,91],"addressed":[42],"by":[43,57,80],"merging":[44],"multiple":[45],"scans":[47],"into":[48],"a":[49,63,77,96,109,132,139,145,150,177],"single":[50,64],"large":[51],"cloud.":[53],"This":[54,87],"done":[56],"restricting":[58],"motion":[61],"to":[62,75,94,107],"axis":[65],"translation":[67],"then":[69,92],"using":[70,131],"interpolation":[71],"iterative":[73],"refinement":[74],"acquire":[76],"denser":[78],"model":[79,90],"combining":[81],"co-registered":[82],"sets":[83],"clouds.":[86],"newly":[88],"constructed":[89],"used":[93],"guide":[95],"basic":[97],"stereo":[98,140],"SLAM":[99],"(simultaneous":[100],"localization":[101],"mapping)":[103],"algorithm":[104],"in":[105],"order":[106],"produce":[108],"final":[110],"dense":[111],"coloured":[112],"cloud":[114],"that":[115,165],"preserves":[116],"original":[121],"measurements.":[123],"Our":[124],"experiments":[125,163],"were":[126],"performed":[127],"at":[128],"various":[129],"locations":[130],"16":[133],"channel":[134],"\u201cPuck\u201d":[135],"Velodyne":[136],"acquisition":[141],"system":[142],"consisting":[143],"DJI":[146],"Phantom":[147],"quadcopter":[148],"synchronized":[151],"pair":[152],"GoPro":[154],"HERO":[155],"3+":[156],"black":[157],"edition":[158],"cameras.":[159],"Results":[160],"these":[162],"demonstrate":[164],"produced":[167],"reconstructions":[168],"both":[170],"ascetically":[171],"sound":[172],"quantitatively":[174],"consistent":[175],"with":[176],"set":[178],"individual":[180],"taken":[182],"around":[183],"scene.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}