{"id":"https://openalex.org/W2141533550","doi":"https://doi.org/10.1109/robot.2002.1013692","title":"Robust tracking and structure from motion with sample based uncertainty representation","display_name":"Robust tracking and structure from motion with sample based uncertainty representation","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2141533550","doi":"https://doi.org/10.1109/robot.2002.1013692","mag":"2141533550"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1013692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Robust_Tracking_and_Structure_from_Motion_with_Sample_Based_Uncertainty_Representation/6560732","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040646362","display_name":"Peng Chang","orcid":"https://orcid.org/0000-0003-1439-8315"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peng Chang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075246991","display_name":"Martial Hebert","orcid":"https://orcid.org/0000-0003-4566-5930"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Hebert","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, Pa., USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3030","last_page":"3037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/artificial-intelligence","display_name":"Artificial intelligence","score":0.825305700302124},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8172838687896729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6628637909889221},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6386024355888367},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.6306617856025696},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5407305955886841},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.49623948335647583},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4781157374382019},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4441326856613159},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.42546209692955017},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4039101004600525},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3997514843940735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36496543884277344},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15395477414131165}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.825305700302124},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8172838687896729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6628637909889221},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6386024355888367},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.6306617856025696},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5407305955886841},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.49623948335647583},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4781157374382019},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4441326856613159},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.42546209692955017},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4039101004600525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3997514843940735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36496543884277344},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15395477414131165},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2002.1013692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/6560732","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/Robust_Tracking_and_Structure_from_Motion_with_Sample_Based_Uncertainty_Representation/6560732","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1389","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1389&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.13.8191","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.13.8191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub3/chang_peng_2002_1/chang_peng_2002_1.pdf","raw_type":"text"},{"id":"doi:10.1184/r1/6560732.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6560732.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6560732","is_oa":true,"landing_page_url":null,"pdf_url":"https://figshare.com/articles/Robust_Tracking_and_Structure_from_Motion_with_Sample_Based_Uncertainty_Representation/6560732","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2141533550.pdf","grobid_xml":"https://content.openalex.org/works/W2141533550.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W599442285","https://openalex.org/W1481108016","https://openalex.org/W1489119587","https://openalex.org/W1513172823","https://openalex.org/W1575387439","https://openalex.org/W1577509784","https://openalex.org/W1583967479","https://openalex.org/W1643263348","https://openalex.org/W1893568172","https://openalex.org/W1905335496","https://openalex.org/W2082542916","https://openalex.org/W2094740227","https://openalex.org/W2098324167","https://openalex.org/W2110370029","https://openalex.org/W2113560487","https://openalex.org/W2116225708","https://openalex.org/W2144284058","https://openalex.org/W2144573889","https://openalex.org/W2157719643","https://openalex.org/W2161406034","https://openalex.org/W2167501464","https://openalex.org/W2179278902","https://openalex.org/W4285719527","https://openalex.org/W6635009110","https://openalex.org/W6636836683"],"related_works":["https://openalex.org/W4379536980","https://openalex.org/W2898919627","https://openalex.org/W2666300258","https://openalex.org/W1989062809","https://openalex.org/W2118689766","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W2890836132"],"abstract_inverted_index":{"Geometric":[0,15],"reconstruction":[1,16],"of":[2,38,44,70,93,98,130],"the":[3,35,39,94,128],"environment":[4,40,138],"from":[5,30,41,55],"images":[6],"is":[7,66,125],"critical":[8],"in":[9,25,61,80,91,120,127],"autonomous":[10],"mapping":[11],"and":[12,28,53,77,111,113],"robot":[13,64,133],"navigation.":[14],"involves":[17],"feature":[18,51,109],"tracking,":[19],"i.e.,":[20,33],"locating":[21],"corresponding":[22],"image":[23],"features":[24],"consecutive":[26],"images,":[27],"structure":[29,37,54],"motion":[31,56,74],"(SFM),":[32],"recovering":[34],"3D":[36],"a":[42,85,131],"set":[43],"correspondences":[45],"between":[46,75],"images.":[47,81],"Although":[48],"algorithms":[49],"for":[50,107],"tracking":[52,110],"are":[57,118],"well-established,":[58],"their":[59],"use":[60],"practical":[62],"mobile":[63,132],"applications":[65],"still":[67],"difficult":[68],"because":[69],"occluded":[71],"features,":[72],"non-smooth":[73],"frames,":[76],"ambiguous":[78],"patterns":[79],"We":[82,100],"show":[83,101,115],"how":[84,102,116],"sampling-based":[86],"representation":[87,97],"can":[88,104],"be":[89,105],"used":[90,106],"place":[92],"traditional":[95],"Gaussian":[96],"uncertainty.":[99],"sampling":[103],"both":[108],"SFM":[112],"we":[114],"they":[117],"combined":[119],"this":[121],"framework.":[122],"The":[123],"approach":[124],"exercised":[126],"context":[129],"navigating":[134],"through":[135],"an":[136,140],"outdoor":[137],"with":[139],"omnidirectional":[141],"camera.":[142]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}