{"id":"https://openalex.org/W2767430525","doi":"https://doi.org/10.1109/lra.2017.2772330","title":"Eliminating Scale Drift in Monocular SLAM Using Depth From Defocus","display_name":"Eliminating Scale Drift in Monocular SLAM Using Depth From Defocus","publication_year":2017,"publication_date":"2017-11-10","ids":{"openalex":"https://openalex.org/W2767430525","doi":"https://doi.org/10.1109/lra.2017.2772330","mag":"2767430525"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2772330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2772330","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/120189/4/RAL_tomoyuki_0711.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029369358","display_name":"Tomoyuki Shiozaki","orcid":"https://orcid.org/0000-0002-5892-8237"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Tomoyuki Shiozaki","raw_affiliation_strings":["Faculty of Engineering and IT, University of Technology Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5892-8237","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gamini Dissanayake","raw_affiliation_strings":["Faculty of Engineering and IT, University of Technology Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-7992-0680","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029369358"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":0.4683,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72013923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"3","issue":"1","first_page":"581","last_page":"587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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":0.9955999851226807,"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/monocular","display_name":"Monocular","score":0.7553849220275879},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6543246507644653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5484784245491028},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5395431518554688},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4569686949253082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4367583394050598},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24335679411888123},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1606157124042511}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7553849220275879},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6543246507644653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5484784245491028},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5395431518554688},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4569686949253082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4367583394050598},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24335679411888123},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1606157124042511}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2772330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2772330","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/120189","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/120189","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/120189/4/RAL_tomoyuki_0711.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/120189","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/120189","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/120189/4/RAL_tomoyuki_0711.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2767430525.pdf","grobid_xml":"https://content.openalex.org/works/W2767430525.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W169439271","https://openalex.org/W1545092130","https://openalex.org/W1612997784","https://openalex.org/W1990398405","https://openalex.org/W2021851106","https://openalex.org/W2023150526","https://openalex.org/W2046155154","https://openalex.org/W2052665505","https://openalex.org/W2069479606","https://openalex.org/W2070716745","https://openalex.org/W2071467620","https://openalex.org/W2104564430","https://openalex.org/W2117636236","https://openalex.org/W2128597272","https://openalex.org/W2129247234","https://openalex.org/W2143789285","https://openalex.org/W2150066425","https://openalex.org/W2152671441","https://openalex.org/W2168520700","https://openalex.org/W2202897526","https://openalex.org/W2292391751","https://openalex.org/W2356887631","https://openalex.org/W2417065300","https://openalex.org/W2508409579","https://openalex.org/W2518667302","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2741799997","https://openalex.org/W2768751791","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3158513731","https://openalex.org/W4236769309","https://openalex.org/W6679421752","https://openalex.org/W6745971977"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,69,106],"novel":[4],"approach":[5],"to":[6,37,47,53,58,73,99],"correct":[7,74],"errors":[8],"caused":[9],"by":[10,68,93],"accumulated":[11],"scale":[12,23,76,103],"drift":[13,77],"in":[14],"monocular":[15,31,54,70,107],"SLAM.":[16,55],"It":[17],"is":[18,45,85,90],"shown":[19],"that":[20],"the":[21,60,83,95,114],"metric":[22,102],"can":[24],"be":[25],"estimated":[26],"using":[27],"information":[28],"gathered":[29],"through":[30],"SLAM":[32,71],"and":[33,63],"image":[34],"blur":[35],"due":[36],"defocus.":[38],"A":[39],"nonlinear":[40],"least":[41],"squares":[42],"optimization":[43],"problem":[44],"formulated":[46],"integrate":[48],"depth":[49],"estimates":[50,66],"from":[51,105],"defocus":[52],"An":[56],"algorithm":[57,72,89],"process":[59],"output":[61,96],"keyframe":[62],"feature":[64],"location":[65],"generated":[67],"for":[75],"at":[78],"selected":[79],"local":[80],"regions":[81],"of":[82,97],"environment":[84],"presented.":[86],"The":[87],"proposed":[88],"experimentally":[91],"evaluated":[92],"processing":[94],"ORB-SLAM":[98],"obtain":[100],"accurate":[101],"maps":[104],"camera":[108],"without":[109],"any":[110],"prior":[111],"knowledge":[112],"about":[113],"scene.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}