{"id":"https://openalex.org/W2087811792","doi":"https://doi.org/10.1109/ivs.2010.5548117","title":"Egomotion estimation using planar and non-planar constraints","display_name":"Egomotion estimation using planar and non-planar constraints","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2087811792","doi":"https://doi.org/10.1109/ivs.2010.5548117","mag":"2087811792"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2010.5548117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5548117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","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/A5055439879","display_name":"Takehiro Azuma","orcid":"https://orcid.org/0000-0001-8658-9407"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]},{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takahiro Azuma","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Honda Elesys co. ltd., 134 Godocho YBP, Hodogaya-ku, Yokohama, Kanagawa 240-0005, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Honda Elesys co. ltd., 134 Godocho YBP, Hodogaya-ku, Yokohama, Kanagawa 240-0005, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113734997","display_name":"Shigeki Sugimoto","orcid":"https://orcid.org/0000-0002-5724-3500"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugimoto","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama bld. S5, Meguro-ku, 152-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama bld. S5, Meguro-ku, 152-8550, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024453747","display_name":"Masatoshi Okutomi","orcid":"https://orcid.org/0000-0001-5787-0742"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Okutomi","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama bld. S5, Meguro-ku, 152-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama bld. S5, Meguro-ku, 152-8550, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055439879"],"corresponding_institution_ids":["https://openalex.org/I114531698","https://openalex.org/I1283473643"],"apc_list":null,"apc_paid":null,"fwci":1.5936,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84924822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2059","issue":null,"first_page":"855","last_page":"862"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9990000128746033,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.8966941833496094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7422555088996887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7201482653617859},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7181041240692139},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5931476950645447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5854331254959106},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.527866542339325},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.5275729894638062},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5196738839149475},{"id":"https://openalex.org/keywords/planarity-testing","display_name":"Planarity testing","score":0.4895859658718109},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4284459054470062},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.4125860929489136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.358312726020813},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2812199592590332}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8966941833496094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7422555088996887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7201482653617859},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7181041240692139},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5931476950645447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5854331254959106},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.527866542339325},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.5275729894638062},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5196738839149475},{"id":"https://openalex.org/C68260962","wikidata":"https://www.wikidata.org/wiki/Q7200967","display_name":"Planarity testing","level":2,"score":0.4895859658718109},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4284459054470062},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.4125860929489136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.358312726020813},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2812199592590332},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2010.5548117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5548117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1566724908","https://openalex.org/W1579142030","https://openalex.org/W1938714998","https://openalex.org/W1995985000","https://openalex.org/W2033819227","https://openalex.org/W2118877769","https://openalex.org/W2121350113","https://openalex.org/W2144297066","https://openalex.org/W2144926944","https://openalex.org/W2147122541","https://openalex.org/W2148258645","https://openalex.org/W2158979083","https://openalex.org/W2171239597","https://openalex.org/W2200154090","https://openalex.org/W4231985393","https://openalex.org/W4285719527","https://openalex.org/W6640879616","https://openalex.org/W6677548441","https://openalex.org/W6681736998","https://openalex.org/W7033090389"],"related_works":["https://openalex.org/W2751063144","https://openalex.org/W2182991573","https://openalex.org/W2356063813","https://openalex.org/W2795286939","https://openalex.org/W2047311859","https://openalex.org/W1510038041","https://openalex.org/W2365196554","https://openalex.org/W1985830928","https://openalex.org/W2170198060","https://openalex.org/W1986525613"],"abstract_inverted_index":{"There":[0],"are":[1,35,47,133],"two":[2,118],"major":[3],"approaches":[4],"for":[5,142],"estimating":[6],"camera":[7,140],"motion":[8],"(egomotion)":[9],"given":[10],"an":[11,165],"image":[12],"sequence.":[13],"Each":[14],"approach":[15,22,30,65],"has":[16,92],"own":[17],"strengths":[18],"and":[19,181],"weaknesses.":[20],"One":[21],"is":[23,51,66,71,103,145,170],"the":[24,31,38,42,49,54,60,89,93,101,106,114,127,136,150,153,158,174,183,192,200,205,208,215,219],"feature":[25,33,62],"based":[26,171],"methods.":[27],"In":[28,98],"this":[29,99],"point":[32,45,61],"correspondences":[34],"taken":[36],"as":[37,83,105],"input.":[39],"Since":[40],"initially":[41],"depths":[43],"of":[44,108,117,195],"features":[46],"unknown,":[48],"egomotion":[50,102,166,209],"estimated":[52,104],"by":[53,111],"depth":[55],"independent":[56],"epipolar":[57,184],"constraints":[58],"on":[59,172,177,182,186],"correspondences.":[63],"This":[64],"robust":[67],"in":[68,74,95,126,135,211],"practice,":[69],"but":[70],"relatively":[72],"limited":[73],"accuracy":[75,217],"since":[76],"it":[77],"exploits":[78],"no":[79],"structure":[80],"assumption,":[81],"such":[82],"planarity.":[84],"The":[85,120,138],"other":[86],"approach,":[87],"termed":[88],"direct":[90,121,154,220],"method,":[91,100],"advantage":[94],"its":[96],"accuracy.":[97],"parameters":[107],"a":[109,146,178],"homography":[110],"directly":[112],"aligning":[113],"planar":[115,179],"potion":[116],"images.":[119],"method":[122,155,168,206],"may":[123],"be":[124],"preferable":[125],"cases":[128],"with":[129],"known":[130],"planes":[131],"that":[132,169,191,204],"persistent":[134],"view.":[137],"on-board":[139],"system":[141],"ground":[143],"vehicles":[144],"representative":[147],"example.":[148],"Despite":[149],"potential":[151],"accuracy,":[152],"fails":[156],"when":[157],"plane":[159],"lacks":[160],"proper":[161],"texture.":[162],"We":[163,202],"propose":[164],"estimation":[167,210],"both":[173,193],"homographic":[175],"constraint":[176,185],"region,":[180],"generally":[187],"non-planar":[188],"regions,":[189],"so":[190],"kinds":[194],"visual":[196],"cues":[197],"contribute":[198],"to":[199,218],"estimation.":[201],"observe":[203],"improves":[207],"robustness":[212],"while":[213],"retaining":[214],"comparable":[216],"method.":[221]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
