{"id":"https://openalex.org/W2156548949","doi":"https://doi.org/10.1109/robot.2010.5509272","title":"Visual odometry priors for robust EKF-SLAM","display_name":"Visual odometry priors for robust EKF-SLAM","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2156548949","doi":"https://doi.org/10.1109/robot.2010.5509272","mag":"2156548949"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pablo F Alcantarilla","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis M Bergasa","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"99","issue":null,"first_page":"3501","last_page":"3506"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987999796867371,"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/ransac","display_name":"RANSAC","score":0.8365896940231323},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7815207242965698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7809334397315979},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7441469430923462},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6889110803604126},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6700242757797241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485708951950073},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6455503702163696},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5717105269432068},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5391360521316528},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4479481875896454},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.4326735734939575},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.42616069316864014},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.390412300825119},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3475338816642761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3142430782318115}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8365896940231323},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7815207242965698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7809334397315979},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7441469430923462},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6889110803604126},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6700242757797241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485708951950073},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6455503702163696},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5717105269432068},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5391360521316528},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4479481875896454},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.4326735734939575},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.42616069316864014},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.390412300825119},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3475338816642761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3142430782318115},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.381.2297","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.381.2297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~dellaert/pub/Alcantarilla10icra1.pdf","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/38308","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/38308","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W10195015","https://openalex.org/W846293480","https://openalex.org/W1565206031","https://openalex.org/W1661995841","https://openalex.org/W2057791985","https://openalex.org/W2101648351","https://openalex.org/W2102434283","https://openalex.org/W2104853049","https://openalex.org/W2107402720","https://openalex.org/W2111308925","https://openalex.org/W2118428504","https://openalex.org/W2123151876","https://openalex.org/W2139453094","https://openalex.org/W2140126254","https://openalex.org/W2143062563","https://openalex.org/W2152671441","https://openalex.org/W2160749110","https://openalex.org/W2166644671","https://openalex.org/W2170282673","https://openalex.org/W2171781905","https://openalex.org/W2296147781","https://openalex.org/W2551317114","https://openalex.org/W4243425824","https://openalex.org/W6600413851","https://openalex.org/W6623426543","https://openalex.org/W6633567737","https://openalex.org/W6637182498","https://openalex.org/W6675947385","https://openalex.org/W6678380436","https://openalex.org/W6685227622"],"related_works":["https://openalex.org/W2082446201","https://openalex.org/W2111113322","https://openalex.org/W4312286391","https://openalex.org/W2113845741","https://openalex.org/W2737053732","https://openalex.org/W2362714107","https://openalex.org/W2099927035","https://openalex.org/W2532401163","https://openalex.org/W2139770562","https://openalex.org/W73815255"],"abstract_inverted_index":{"One":[0],"of":[1,5,13,38,71,96,137,152,207],"the":[2,11,27,69,108,129,134,138,141,155,163,168,183,200,205,211],"main":[3],"drawbacks":[4],"standard":[6,212],"visual":[7,82,164],"EKF-SLAM":[8,72],"techniques":[9,73],"is":[10],"assumption":[12],"a":[14,30,58,81,87,114,121,148,195],"general":[15,77],"camera":[16,46,53,198],"motion":[17,21,78],"model.":[18,36,215],"Usually":[19],"this":[20,64,76],"model":[22,79,189],"has":[23],"been":[24],"implemented":[25],"in":[26,167],"literature":[28],"as":[29,199],"constant":[31,184,213],"linear":[32,185],"and":[33,55,173,177,186],"angular":[34,187],"velocity":[35,188,214],"Because":[37],"this,":[39],"most":[40],"approaches":[41],"cannot":[42],"deal":[43],"with":[44,80],"sudden":[45],"movements,":[47],"causing":[48],"them":[49],"to":[50,57,100,158,182],"lose":[51],"accurate":[52],"pose":[54,90,105,132],"leading":[56],"corrupted":[59],"3D":[60,156],"scene":[61],"map.":[62],"In":[63,140],"work":[65],"we":[66,127,145],"propose":[67],"increasing":[68],"robustness":[70],"by":[74,92,120],"replacing":[75],"odometry":[83,165],"prior,":[84],"which":[85],"provides":[86],"real-time":[88,160],"relative":[89,131],"prior":[91,166],"tracking":[93],"many":[94],"hundreds":[95],"features":[97],"from":[98,112],"frame":[99],"frame.":[101],"We":[102],"perform":[103],"fast":[104],"estimation":[106],"using":[107,194],"two-stage":[109],"RANSAC-based":[110],"approach":[111],"[1]:":[113],"two-point":[115],"algorithm":[116,123],"for":[117,124],"rotation":[118],"followed":[119],"one-point":[122],"translation.":[125],"Then":[126],"integrate":[128],"estimated":[130],"into":[133,154],"prediction":[135],"step":[136],"EKF.":[139],"measurement":[142],"update":[143],"step,":[144],"only":[146,201],"incorporate":[147],"much":[149],"smaller":[150],"number":[151],"landmarks":[153],"map":[157],"maintain":[159],"operation.":[161],"Incorporating":[162],"EKF":[169],"process":[170],"yields":[171],"better":[172],"more":[174],"robust":[175],"localization":[176],"mapping":[178],"results":[179],"when":[180],"compared":[181],"case.":[190],"Our":[191],"experimental":[192],"results,":[193],"handheld":[196],"stereo":[197],"sensor,":[202],"clearly":[203],"show":[204],"benefits":[206],"our":[208],"method":[209],"against":[210]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
