{"id":"https://openalex.org/W2068353947","doi":"https://doi.org/10.1109/robio.2012.6490989","title":"Probabilistic Block-Matching based 6D camera localization","display_name":"Probabilistic Block-Matching based 6D camera localization","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2068353947","doi":"https://doi.org/10.1109/robio.2012.6490989","mag":"2068353947"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6490989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5041727589","display_name":"Damien Vivet","orcid":"https://orcid.org/0000-0003-1909-5591"},"institutions":[{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Damien Vivet","raw_affiliation_strings":["Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035471371","display_name":"Cl\u00e9ment Deymier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143836","display_name":"Clermont Universit\u00e9","ror":"https://ror.org/03yf5zr20","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143836"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]},{"id":"https://openalex.org/I4210103002","display_name":"University of Clermont Auvergne","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210103002"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cl\u00e9ment Deymier","raw_affiliation_strings":["Institut Pascal, Clermont Université, LASMEA, UMR 6602 UBP / CNRS, 63170 Clermont-Ferrand, France","Institut Pascal, Clermont Universit\u00e9, LASMEA, UMR 6602 UBP / CNRS, 63170 Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Institut Pascal, Clermont Université, LASMEA, UMR 6602 UBP / CNRS, 63170 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I4210123221","https://openalex.org/I4210103002","https://openalex.org/I4210143836"]},{"raw_affiliation_string":"Institut Pascal, Clermont Universit\u00e9, LASMEA, UMR 6602 UBP / CNRS, 63170 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006981448","display_name":"Beno\u00eet Priot","orcid":"https://orcid.org/0000-0001-7325-822X"},"institutions":[{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benoit Priot","raw_affiliation_strings":["Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080733045","display_name":"Vincent Calmettes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Calmettes","raw_affiliation_strings":["Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Institut Supérieur de l'Aeronautique et de l'Espace, ISAE, Universités de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"Institut Sup\u00e9rieur de l'Aeronautique et de l'Espace, ISAE, Universit\u00e9s de Toulouse, 31400 Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041727589"],"corresponding_institution_ids":["https://openalex.org/I193033237","https://openalex.org/I4210139096"],"apc_list":null,"apc_paid":null,"fwci":0.2745,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58248039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"336","last_page":"341"},"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/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":0.9988999962806702,"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/epipolar-geometry","display_name":"Epipolar geometry","score":0.8868179321289062},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7892025709152222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7697749137878418},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6576438546180725},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.6437810063362122},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.6175768375396729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6152222156524658},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5771686434745789},{"id":"https://openalex.org/keywords/motion-field","display_name":"Motion field","score":0.5684391856193542},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5536179542541504},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4554124176502228},{"id":"https://openalex.org/keywords/block-matching-algorithm","display_name":"Block-matching algorithm","score":0.4257509708404541},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4232408106327057},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.285785436630249},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2453298270702362},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17771214246749878},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.15271735191345215},{"id":"https://openalex.org/keywords/video-processing","display_name":"Video processing","score":0.12093767523765564},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08407995104789734}],"concepts":[{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.8868179321289062},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7892025709152222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7697749137878418},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6576438546180725},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.6437810063362122},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.6175768375396729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6152222156524658},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5771686434745789},{"id":"https://openalex.org/C124774092","wikidata":"https://www.wikidata.org/wiki/Q6917782","display_name":"Motion field","level":3,"score":0.5684391856193542},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5536179542541504},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4554124176502228},{"id":"https://openalex.org/C167510206","wikidata":"https://www.wikidata.org/wiki/Q2835824","display_name":"Block-matching algorithm","level":4,"score":0.4257509708404541},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4232408106327057},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.285785436630249},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2453298270702362},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17771214246749878},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.15271735191345215},{"id":"https://openalex.org/C65483669","wikidata":"https://www.wikidata.org/wiki/Q3536669","display_name":"Video processing","level":2,"score":0.12093767523765564},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08407995104789734},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6490989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W1590697402","https://openalex.org/W1974535681","https://openalex.org/W1975326224","https://openalex.org/W1976921278","https://openalex.org/W1984190176","https://openalex.org/W2007079389","https://openalex.org/W2007097535","https://openalex.org/W2018014148","https://openalex.org/W2029218448","https://openalex.org/W2033819227","https://openalex.org/W2034043440","https://openalex.org/W2039982410","https://openalex.org/W2052455351","https://openalex.org/W2059958089","https://openalex.org/W2080274401","https://openalex.org/W2087322156","https://openalex.org/W2096090110","https://openalex.org/W2096901547","https://openalex.org/W2097197771","https://openalex.org/W2097787789","https://openalex.org/W2101004951","https://openalex.org/W2103046720","https://openalex.org/W2104377959","https://openalex.org/W2125240024","https://openalex.org/W2125903031","https://openalex.org/W2166502824","https://openalex.org/W2168414614","https://openalex.org/W2246316648","https://openalex.org/W6601185777","https://openalex.org/W6675386091","https://openalex.org/W6678330010","https://openalex.org/W6690680936"],"related_works":["https://openalex.org/W1590450566","https://openalex.org/W1985830928","https://openalex.org/W1839025738","https://openalex.org/W2166189609","https://openalex.org/W2051456680","https://openalex.org/W1503005791","https://openalex.org/W2532401163","https://openalex.org/W2134551409","https://openalex.org/W1501297619","https://openalex.org/W2026674073"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,31,36,50,58,129],"full":[4,101],"6D":[5],"localization":[6,107],"algorithm":[7,25],"based":[8,111],"on":[9],"probabilistic":[10],"motion":[11,14,67,92],"field.":[12],"The":[13,119],"field":[15],"is":[16,38,47,64,69,94,121],"obtained":[17,127],"by":[18],"an":[19],"adaptation":[20],"of":[21,52,104],"the":[22,88],"video":[23],"compression":[24],"known":[26],"as":[27],"Block-Matching":[28],"which":[29],"provides":[30],"sparse":[32],"optical":[33],"flow.":[34],"Such":[35,91],"technique":[37],"very":[39],"fast":[40],"and":[41,82,132,136],"allows":[42],"real":[43,124],"time":[44],"applications.":[45],"Image":[46],"decomposed":[48],"in":[49,72,97],"grid":[51],"rectangular":[53],"blocks.":[54],"For":[55],"each":[56,77],"block,":[57],"relative":[59],"displacement":[60],"between":[61],"consecutive":[62],"images":[63],"calculated.":[65],"Obtained":[66],"flow":[68,93],"analyzed":[70],"probabilistically":[71],"order":[73,98],"to":[74,83,99,123],"extract":[75],"for":[76],"movement":[78],"detection":[79],"its":[80],"uncertainty":[81],"obtain":[84,100],"subpixelic":[85],"information":[86],"about":[87],"area":[89],"movement.":[90],"then":[95],"used":[96],"6":[102],"degrees":[103],"freedom":[105],"camera":[106],"using":[108],"epipolar":[109],"geometry":[110],"techniques":[112],"without":[113],"any":[114],"3D":[115],"landmark":[116],"reconstruction":[117],"requirement.":[118],"method":[120],"applied":[122],"data":[125],"set":[126],"from":[128],"mobile":[130],"robot":[131],"compared":[133],"with":[134],"SIFT":[135],"Harris":[137],"detection.":[138]},"counts_by_year":[{"year":2019,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}