{"id":"https://openalex.org/W2108809668","doi":"https://doi.org/10.1109/robot.2009.5152239","title":"Multiple-model RANSAC for ego-motion estimation in highly dynamic environments","display_name":"Multiple-model RANSAC for ego-motion estimation in highly dynamic environments","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2108809668","doi":"https://doi.org/10.1109/robot.2009.5152239","mag":"2108809668"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152239","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 Automation","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/A5100880984","display_name":"Shao\u2010Wen Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shao-Wen Yang","raw_affiliation_strings":["Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan","Department of Computer Science and Information Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, 10617, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, 10617, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041579723","display_name":"Chieh\u2010Chih Wang","orcid":"https://orcid.org/0000-0001-9385-0044"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chieh-Chih Wang","raw_affiliation_strings":["Department of Computer Science and Information Engineering, and the Graduate Institute of Networking and Multimedia, National Taiwan University, Taiwan","Faculty of the Department of Computer Science and Information Engineering, and the Graduate Institute of Networking and Multimedia, National Taiwan University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Engineering, and the Graduate Institute of Networking and Multimedia, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Faculty of the Department of Computer Science and Information Engineering, and the Graduate Institute of Networking and Multimedia, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100880984"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":27.1497,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.99035992,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9980999827384949,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.9822468757629395},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7985758781433105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7401642799377441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6686083674430847},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5602237582206726},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5405117869377136},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4746171534061432},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4656532406806946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4413304030895233},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44072216749191284},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.42785048484802246},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.41315364837646484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27062004804611206},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1270633041858673}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9822468757629395},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7985758781433105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7401642799377441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6686083674430847},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5602237582206726},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5405117869377136},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4746171534061432},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4656532406806946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4413304030895233},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44072216749191284},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.42785048484802246},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.41315364837646484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27062004804611206},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1270633041858673},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152239","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 Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.493.6986","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.493.6986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.csie.ntu.edu.tw/~bobwang/Papers/yang_icra09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1232539894","https://openalex.org/W1531532259","https://openalex.org/W1550861140","https://openalex.org/W2037399936","https://openalex.org/W2047328415","https://openalex.org/W2049981393","https://openalex.org/W2055207897","https://openalex.org/W2085261163","https://openalex.org/W2102048996","https://openalex.org/W2112441941","https://openalex.org/W2115601136","https://openalex.org/W2119417818","https://openalex.org/W2121806728","https://openalex.org/W2126742341","https://openalex.org/W2140927080","https://openalex.org/W2143373691","https://openalex.org/W2146881125","https://openalex.org/W2148228392","https://openalex.org/W2156715992","https://openalex.org/W2173782939","https://openalex.org/W2394607849","https://openalex.org/W2406067508","https://openalex.org/W3139767794","https://openalex.org/W4293682399","https://openalex.org/W6676638597","https://openalex.org/W6679187224","https://openalex.org/W6683290661"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W3012182724","https://openalex.org/W2115876589","https://openalex.org/W1988708904","https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W4229059082","https://openalex.org/W2896146757"],"abstract_inverted_index":{"Robust":[0],"ego-motion":[1,47,93,116,178],"estimation":[2,94,117],"in":[3,100,181],"urban":[4],"environments":[5,54,163,182],"is":[6,17,70,135],"a":[7,12,41,73,85,101,111,119,127,184],"key":[8],"prerequisite":[9],"for":[10,77,115,123],"making":[11],"robot":[13,37],"truly":[14],"autonomous,":[15],"but":[16],"not":[18],"easily":[19],"achievable":[20],"as":[21],"there":[22],"are":[23,139,148],"two":[24],"motions":[25,28],"involved:":[26],"the":[27,33,36,67,90],"of":[29,35,61,92,161,167,172,187],"moving":[30,96,120,124,131,168,173,188],"objects":[31,138,174],"and":[32,80,95,118,151],"motion":[34],"itself.":[38],"We":[39,83],"proposed":[40,84],"random":[42],"sample":[43],"consensus":[44],"(RANSAC)":[45],"based":[46],"estimator":[48],"to":[49,88,107],"deal":[50],"with":[51],"highly":[52],"dynamic":[53],"using":[55],"one":[56],"planar":[57],"laser":[58],"scanner.":[59],"Instead":[60],"directly":[62],"sampling":[63,79],"on":[64],"individual":[65],"measurements,":[66],"RANSAC":[68,102,106],"process":[69],"performed":[71],"at":[72],"higher":[74],"level":[75],"abstraction":[76],"systematic":[78],"computational":[81],"efficiency.":[82],"multiple-model":[86],"approach":[87],"solve":[89],"problems":[91],"object":[97,121,125,132],"detection":[98],"jointly":[99],"paradigm.":[103],"To":[104],"accommodate":[105],"multiple":[108],"models":[109,130],"-":[110],"static":[112,162],"environment":[113],"model":[114,122],"detection,":[126],"compact":[128],"representation":[129],"information":[133],"implicitly":[134],"proposed.":[136],"Moving":[137],"successfully":[140],"detected":[141],"without":[142],"incorporating":[143],"any":[144],"grid":[145],"maps,":[146],"that":[147,158],"inherently":[149],"time":[150],"space":[152],"consuming.":[153],"The":[154],"experimental":[155],"results":[156],"show":[157],"accurate":[159],"identification":[160],"can":[164],"help":[165],"classification":[166],"objects,":[169],"whereas":[170],"discrimination":[171],"also":[175],"yields":[176],"better":[177],"estimation,":[179],"particularly":[180],"containing":[183],"significant":[185],"percentage":[186],"objects.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}