{"id":"https://openalex.org/W2762644402","doi":"https://doi.org/10.1109/lra.2017.2777002","title":"Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM","display_name":"Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM","publication_year":2017,"publication_date":"2017-11-23","ids":{"openalex":"https://openalex.org/W2762644402","doi":"https://doi.org/10.1109/lra.2017.2777002","mag":"2762644402"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2777002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2777002","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1710.02081","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007868194","display_name":"Paul Bergmann","orcid":"https://orcid.org/0000-0002-4458-3573"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Paul Bergmann","raw_affiliation_strings":["Faculty of Computer Science, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431212","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0002-2252-9955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["Faculty of Computer Science, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087710605","display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Faculty of Computer Science, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007868194"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.2775,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6491619,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":"2","first_page":"627","last_page":"634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9966999888420105,"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":0.9955000281333923,"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/vignetting","display_name":"Vignetting","score":0.8673553466796875},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.8575788736343384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8059554100036621},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7749063968658447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.719292163848877},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.577422022819519},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.504348635673523},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.49765899777412415},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49362409114837646},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4700918197631836},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.4398627281188965},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1644180417060852}],"concepts":[{"id":"https://openalex.org/C14740026","wikidata":"https://www.wikidata.org/wiki/Q1136665","display_name":"Vignetting","level":3,"score":0.8673553466796875},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8575788736343384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8059554100036621},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7749063968658447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.719292163848877},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.577422022819519},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.504348635673523},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.49765899777412415},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49362409114837646},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4700918197631836},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.4398627281188965},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1644180417060852},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2017.2777002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2777002","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:arXiv.org:1710.02081","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.02081","pdf_url":"https://arxiv.org/pdf/1710.02081","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:2762644402","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1710.02081","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1710.02081","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1710.02081","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1710.02081","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.02081","pdf_url":"https://arxiv.org/pdf/1710.02081","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2762644402.pdf","grobid_xml":"https://content.openalex.org/works/W2762644402.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2008387908","https://openalex.org/W2012641939","https://openalex.org/W2058535340","https://openalex.org/W2096099694","https://openalex.org/W2123315723","https://openalex.org/W2124545674","https://openalex.org/W2126030668","https://openalex.org/W2130103520","https://openalex.org/W2130700878","https://openalex.org/W2133132458","https://openalex.org/W2139851675","https://openalex.org/W2143736264","https://openalex.org/W2159330172","https://openalex.org/W2165737454","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2564641136","https://openalex.org/W4236229596","https://openalex.org/W6618872416","https://openalex.org/W6677548441","https://openalex.org/W6719264329"],"related_works":["https://openalex.org/W2962733873","https://openalex.org/W3195317016","https://openalex.org/W2970676797","https://openalex.org/W3005736200","https://openalex.org/W2913665835","https://openalex.org/W3200674214","https://openalex.org/W2963233640","https://openalex.org/W3042274911","https://openalex.org/W3114423713","https://openalex.org/W2048249748","https://openalex.org/W2343383542","https://openalex.org/W2344086557","https://openalex.org/W2797701484","https://openalex.org/W3004359000","https://openalex.org/W2944285078","https://openalex.org/W2206962248","https://openalex.org/W3007245826","https://openalex.org/W2266469970","https://openalex.org/W3175380624","https://openalex.org/W1987622464"],"abstract_inverted_index":{"Recent":[0],"direct":[1,160],"visual":[2,66,161],"odometry":[3,67,162],"and":[4,92],"SLAM":[5],"algorithms":[6],"have":[7],"demonstrated":[8],"impressive":[9],"levels":[10],"of":[11,75,85,96,157],"precision.":[12],"However,":[13],"they":[14],"require":[15],"a":[16,39,52,119,158],"photometric":[17,56,142,172],"camera":[18,89],"calibration":[19,57,152],"in":[20,174,178],"order":[21],"to":[22,34,38,60,101,111,118],"achieve":[23],"competitive":[24],"results.":[25],"Hence,":[26],"the":[27,82,88,93,97,155],"respective":[28],"algorithm":[29,80],"cannot":[30],"be":[31],"directly":[32],"applied":[33],"an":[35,44,175],"off-the-shelf-camera":[36],"or":[37],"video":[40,132],"sequence":[41],"acquired":[42],"with":[43,65,73],"unknown":[45],"camera.":[46],"In":[47],"this":[48],"letter,":[49],"we":[50],"propose":[51],"method":[53,163],"for":[54,139,171],"online":[55,176],"that":[58,69,125,150,164],"enables":[59],"process":[61],"auto":[62],"exposure":[63,83],"videos":[64],"precisions":[68],"are":[70,109],"on":[71,137,167],"par":[72],"those":[74],"photometrically":[76],"calibrated":[77],"videos.":[78],"Our":[79],"recovers":[81],"times":[84],"consecutive":[86],"frames,":[87],"response":[90],"function,":[91],"attenuation":[94],"factors":[95],"sensor":[98],"irradiance":[99],"due":[100],"vignetting.":[102],"Gain":[103],"robust":[104],"Kanade-Lucas-Tomasi":[105],"(KLT)":[106],"feature":[107],"tracks":[108],"used":[110],"obtain":[112],"scene":[113],"point":[114],"correspondences":[115],"as":[116],"input":[117],"nonlinear":[120],"optimization":[121],"framework.":[122],"We":[123,147],"show":[124,149],"our":[126,151],"approach":[127],"can":[128,153],"reliably":[129],"calibrate":[130],"arbitrary":[131],"sequences":[133],"by":[134],"evaluating":[135],"it":[136],"datasets":[138],"which":[140],"full":[141],"ground":[143],"truth":[144],"is":[145],"available.":[146],"further":[148],"improve":[154],"performance":[156],"state-of-the-art":[159],"works":[165],"solely":[166],"pixel":[168],"intensities,":[169],"calibrating":[170],"parameters":[173],"fashion":[177],"realtime.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}