{"id":"https://openalex.org/W2053399689","doi":"https://doi.org/10.1109/robot.2008.4543255","title":"Robust and real-time egomotion estimation using a compound omnidirectional sensor","display_name":"Robust and real-time egomotion estimation using a compound omnidirectional sensor","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2053399689","doi":"https://doi.org/10.1109/robot.2008.4543255","mag":"2053399689"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5032964307","display_name":"Trung Ngo Thanh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Trung Ngo Thanh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065709581","display_name":"Hajime Nagahara","orcid":"https://orcid.org/0000-0003-1579-8767"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hajime Nagahara","raw_affiliation_strings":["Real world robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Real world robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076890403","display_name":"Ryusuke Sagawa","orcid":"https://orcid.org/0000-0002-6778-8838"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryusuke Sagawa","raw_affiliation_strings":["Osaka University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045819127","display_name":"Yasuhiro Mukaigawa","orcid":"https://orcid.org/0000-0001-8689-3724"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiro Mukaigawa","raw_affiliation_strings":["Osaka University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109903215","display_name":"M. Yachida","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Yachida","raw_affiliation_strings":["Osaka University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040773064","display_name":"Yasushi Yagi","orcid":"https://orcid.org/0000-0002-3546-8071"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Yagi","raw_affiliation_strings":["Osaka University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"492","last_page":"497"},"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":0.9994000196456909,"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":0.9990000128746033,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.8347371816635132},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7814677953720093},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.7409406304359436},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.7099459171295166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7081475257873535},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.690190315246582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6406913995742798},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.6291406750679016},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5487551689147949},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5373628735542297},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.31212857365608215}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.8347371816635132},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7814677953720093},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.7409406304359436},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.7099459171295166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7081475257873535},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.690190315246582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6406913995742798},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.6291406750679016},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5487551689147949},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5373628735542297},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.31212857365608215},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1482517735","https://openalex.org/W1598123022","https://openalex.org/W2040778740","https://openalex.org/W2043003144","https://openalex.org/W2070814988","https://openalex.org/W2077146607","https://openalex.org/W2086523316","https://openalex.org/W2100877732","https://openalex.org/W2103618355","https://openalex.org/W2106255741","https://openalex.org/W2125895382","https://openalex.org/W2129606894","https://openalex.org/W2140022963","https://openalex.org/W2160051261","https://openalex.org/W2179278902","https://openalex.org/W2200154090","https://openalex.org/W4253059935","https://openalex.org/W6628905727","https://openalex.org/W7033090389"],"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/W2137384304","https://openalex.org/W2422277458","https://openalex.org/W1655720158","https://openalex.org/W1980419027"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,8,17],"new":[3],"egomotion":[4],"estimation":[5,43],"algorithm":[6],"for":[7,70,93],"compound":[9,39],"omnidirectional":[10,35,40],"camera.":[11],"Image":[12],"features":[13,29,62],"are":[14],"detected":[15],"by":[16,30],"conventional":[18],"feature":[19],"detector":[20],"and":[21,27,75,87],"then":[22,56],"quickly":[23],"classified":[24],"into":[25],"near":[26,61],"far":[28,54],"checking":[31],"infinity":[32],"on":[33],"the":[34,38,64],"image":[36],"of":[37,72],"sensor.":[41],"Egomotion":[42],"is":[44,51,58,68,85],"performed":[45],"in":[46,78,91],"two":[47],"steps:":[48],"first,":[49],"rotation":[50,74],"recovered":[52],"using":[53,63],"features;":[55],"translation":[57],"estimated":[59,65],"from":[60],"rotation.":[66],"RANSAC":[67],"used":[69],"estimations":[71],"both":[73],"translation.":[76],"Experiments":[77],"various":[79],"environments":[80],"show":[81],"that":[82],"our":[83],"approach":[84],"robust":[86],"provides":[88],"good":[89],"accuracy":[90],"real-time":[92],"large":[94],"motions.":[95]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}