{"id":"https://openalex.org/W3178149867","doi":"https://doi.org/10.1109/lra.2021.3090455","title":"Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments","display_name":"Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3178149867","doi":"https://doi.org/10.1109/lra.2021.3090455","mag":"3178149867"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3090455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3090455","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015392706","display_name":"Michael Krawez","orcid":"https://orcid.org/0000-0002-8735-317X"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Krawez","raw_affiliation_strings":["Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8735-317X","affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087065637","display_name":"Tim Caselitz","orcid":"https://orcid.org/0000-0002-0934-8121"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Caselitz","raw_affiliation_strings":["Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0934-8121","affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074838699","display_name":"Jugesh Sundram","orcid":"https://orcid.org/0000-0003-2347-0462"},"institutions":[{"id":"https://openalex.org/I4210120547","display_name":"Toyota Motor Corporation (Belgium)","ror":"https://ror.org/023g86t37","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210120547","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jugesh Sundram","raw_affiliation_strings":["Toyota Motor Europe, R&D - Advanced Technology, Zaventem, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-2347-0462","affiliations":[{"raw_affiliation_string":"Toyota Motor Europe, R&D - Advanced Technology, Zaventem, Belgium","institution_ids":["https://openalex.org/I4210120547"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040604298","display_name":"Mark Van Loock","orcid":"https://orcid.org/0000-0001-9811-7060"},"institutions":[{"id":"https://openalex.org/I4210120547","display_name":"Toyota Motor Corporation (Belgium)","ror":"https://ror.org/023g86t37","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210120547","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Mark Van Loock","raw_affiliation_strings":["Toyota Motor Europe, R&D - Advanced Technology, Zaventem, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-9811-7060","affiliations":[{"raw_affiliation_string":"Toyota Motor Europe, R&D - Advanced Technology, Zaventem, Belgium","institution_ids":["https://openalex.org/I4210120547"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5680-6500","affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1972,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92645453,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"6","issue":"3","first_page":"6084","last_page":"6091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9984999895095825,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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/geolocation","display_name":"Geolocation","score":0.7133748531341553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6793972253799438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6662715673446655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5918181538581848},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.5376167893409729},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5179466605186462},{"id":"https://openalex.org/keywords/global-illumination","display_name":"Global illumination","score":0.4456525146961212},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4212404787540436},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4180942475795746},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.38379329442977905},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3683710992336273},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22169029712677002},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.1302448809146881},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08158105611801147}],"concepts":[{"id":"https://openalex.org/C22041718","wikidata":"https://www.wikidata.org/wiki/Q638949","display_name":"Geolocation","level":2,"score":0.7133748531341553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6793972253799438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6662715673446655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5918181538581848},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.5376167893409729},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5179466605186462},{"id":"https://openalex.org/C89720835","wikidata":"https://www.wikidata.org/wiki/Q1531701","display_name":"Global illumination","level":3,"score":0.4456525146961212},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4212404787540436},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4180942475795746},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.38379329442977905},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3683710992336273},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22169029712677002},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.1302448809146881},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08158105611801147},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3090455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3090455","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1847322641","https://openalex.org/W1987648924","https://openalex.org/W2000861327","https://openalex.org/W2021851106","https://openalex.org/W2027174336","https://openalex.org/W2059898159","https://openalex.org/W2071906076","https://openalex.org/W2086333273","https://openalex.org/W2091226544","https://openalex.org/W2103898836","https://openalex.org/W2148913248","https://openalex.org/W2523745592","https://openalex.org/W2535547924","https://openalex.org/W2586943694","https://openalex.org/W2615297659","https://openalex.org/W2792109312","https://openalex.org/W2911093692","https://openalex.org/W2963233640","https://openalex.org/W2963269451","https://openalex.org/W2991182836","https://openalex.org/W3043971245","https://openalex.org/W3089479558","https://openalex.org/W3101284767","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3165610079","https://openalex.org/W4248529434","https://openalex.org/W4255508165","https://openalex.org/W6618872416","https://openalex.org/W6732898783","https://openalex.org/W7042886402"],"related_works":["https://openalex.org/W2163194970","https://openalex.org/W3105229732","https://openalex.org/W2799094075","https://openalex.org/W2945387931","https://openalex.org/W2187946387","https://openalex.org/W2892370851","https://openalex.org/W2052024186","https://openalex.org/W2939141610","https://openalex.org/W4310429133","https://openalex.org/W2380692702"],"abstract_inverted_index":{"Dynamic":[0],"illumination":[1,52,81,96,116,128],"is":[2,23,67,82,136],"a":[3,28,42],"challenging":[4],"problem":[5],"for":[6,87,138],"visual":[7],"robot":[8],"localization":[9],"and":[10,45,61,73,112,130],"tracking.":[11,141],"In":[12],"indoor":[13,36],"environments,":[14],"the":[15,21,32,46,64,70,74,104,114],"main":[16],"source":[17],"of":[18,34,55,77,89],"light":[19,106],"during":[20],"day":[22],"outdoor":[24,48,51,105,127],"illumination.":[25],"We":[26,118],"propose":[27],"method":[29],"that":[30,132],"estimates":[31],"appearance":[33],"an":[35],"scene":[37,71,80],"in":[38,108],"real-time":[39],"based":[40],"on":[41,122],"reflectance":[43],"map":[44],"current":[47,75],"lighting.":[49],"Our":[50],"model":[53,135],"consists":[54],"three":[56],"components,":[57],"namely":[58],"sun,":[59],"sky":[60],"ground,":[62],"where":[63],"sun":[65],"position":[66],"obtained":[68],"from":[69,98],"geolocation":[72],"time":[76],"day.":[78],"The":[79],"pre-computed":[83,115],"using":[84],"radiosity":[85],"transport":[86],"each":[88,109],"those":[90],"components.":[91],"To":[92],"deal":[93],"with":[94],"dynamic":[95],"resulting":[97],"changing":[99],"weather":[100],"conditions,":[101],"we":[102],"estimate":[103],"brightness":[107],"input":[110],"frame":[111],"scale":[113],"accordingly.":[117],"evaluate":[119],"our":[120,133],"approach":[121],"real-world":[123],"data":[124],"covering":[125],"diverse":[126],"settings":[129],"show":[131],"adaptable":[134],"beneficial":[137],"direct":[139],"camera":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}