{"id":"https://openalex.org/W2131658139","doi":"https://doi.org/10.1109/robio.2009.5420703","title":"A Slope K method for image based localization","display_name":"A Slope K method for image based localization","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2131658139","doi":"https://doi.org/10.1109/robio.2009.5420703","mag":"2131658139"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101779249","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-9668-4309"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, China","Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, China#TAB#","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100648593","display_name":"Haitao Yu","orcid":"https://orcid.org/0009-0000-8603-150X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Yu","raw_affiliation_strings":["Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002795838","display_name":"Yuexian Zou","orcid":"https://orcid.org/0000-0001-9999-6140"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuexian Zou","raw_affiliation_strings":["Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042391471","display_name":"Zhenhua Huo","orcid":"https://orcid.org/0000-0001-8169-4283"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Huo","raw_affiliation_strings":["Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Key Laboratory of Integrated Micro-system, Shenzhen Graduate School, Peking University, Shenzhen 518055 China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101779249"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11334895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"535","last_page":"538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9919000267982483,"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/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.9559214115142822},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7583473920822144},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5893132090568542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.585919976234436},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5387343764305115},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.5051713585853577},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.48029157519340515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4791633188724518},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.47042083740234375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46870797872543335},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46104735136032104},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.18488174676895142}],"concepts":[{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.9559214115142822},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7583473920822144},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5893132090568542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.585919976234436},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5387343764305115},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.5051713585853577},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48029157519340515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4791633188724518},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.47042083740234375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46870797872543335},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46104735136032104},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.18488174676895142},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1973113403","https://openalex.org/W1979438422","https://openalex.org/W2008572525","https://openalex.org/W2116191958","https://openalex.org/W2118153703","https://openalex.org/W2124386111","https://openalex.org/W2151103935","https://openalex.org/W2151914190","https://openalex.org/W2168562287","https://openalex.org/W4233874328","https://openalex.org/W6644989529"],"related_works":["https://openalex.org/W3034955165","https://openalex.org/W2094920358","https://openalex.org/W2041448692","https://openalex.org/W2247121321","https://openalex.org/W2391926582","https://openalex.org/W2087391438","https://openalex.org/W1966831329","https://openalex.org/W2316074893","https://openalex.org/W2020188645","https://openalex.org/W2358868262"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5],"SIFT":[6,20],"based":[7,23],"Slope":[8,57],"K":[9,58],"method":[10,59,78],"which":[11],"is":[12,48,60,79,90,102],"faster":[13],"and":[14],"more":[15,67],"robust":[16],"than":[17,107],"the":[18,26,40,45,51,56,70,76,81,95,99,110],"classical":[19,71,96,111],"in":[21],"landmark":[22],"localization.":[24],"First,":[25],"slope":[27,52],"k":[28,53],"value":[29],"can":[30],"be":[31,88],"used":[32],"to":[33,62,87,94],"erase":[34],"mismatched":[35],"feature":[36],"points":[37],"(outliers)":[38],"of":[39,75,83,109],"two":[41],"compared":[42,93],"images.":[43],"Second,":[44],"y":[46],"position":[47],"determined":[49],"by":[50],"value.":[54],"Therefore,":[55],"able":[61],"localizes":[63],"about":[64],"twice":[65],"as":[66,69],"accurate":[68],"SIFT.":[72,97,112],"Another":[73],"advantage":[74],"proposed":[77],"that":[80,108],"number":[82],"database":[84],"images":[85],"needed":[86],"matched":[89],"significantly":[91],"reduced,":[92],"Therefore":[98],"time":[100],"cost":[101],"approximate":[103],"4":[104],"times":[105],"less":[106]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
