{"id":"https://openalex.org/W2028864324","doi":"https://doi.org/10.1109/roman.2007.4415086","title":"A Study on the Improved Localization of a Mobile Robot by using Scale Invariant Feature and Odometry","display_name":"A Study on the Improved Localization of a Mobile Robot by using Scale Invariant Feature and Odometry","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2028864324","doi":"https://doi.org/10.1109/roman.2007.4415086","mag":"2028864324"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2007.4415086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2007.4415086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication","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/A5063026672","display_name":"Chul-Woong Jang","orcid":null},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Tech University of Korea","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chul-Woong Jang","raw_affiliation_strings":["Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","Korea Polytech. Univ., Gyeonggi-Do"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I1322422313"]},{"raw_affiliation_string":"Korea Polytech. Univ., Gyeonggi-Do","institution_ids":["https://openalex.org/I1322422313"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069315946","display_name":"Ki-Ho Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Tech University of Korea","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ki-Ho Jung","raw_affiliation_strings":["Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","Korea Polytech. Univ., Gyeonggi-Do"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I1322422313"]},{"raw_affiliation_string":"Korea Polytech. Univ., Gyeonggi-Do","institution_ids":["https://openalex.org/I1322422313"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089363658","display_name":"Dae-Seop Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Tech University of Korea","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dae-Seop Jung","raw_affiliation_strings":["Department of Mechatronics Engineering, Korea Polytechnic University, Gyeonggi, South Korea","Dept. of Mechatronics Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. djjds@kpu.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Korea Polytechnic University, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I1322422313"]},{"raw_affiliation_string":"Dept. of Mechatronics Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. djjds@kpu.ac.kr","institution_ids":["https://openalex.org/I1322422313"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111701133","display_name":"Jegoon Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Je-Goon Ryu","raw_affiliation_strings":["Graduate school of Information, Production & System, Waseda University, Tokyo, Japan","Graduate school of Information, Production & System, Waseda University., Tokyo, Japan. jkryu@ruri.waseda.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information, Production & System, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate school of Information, Production & System, Waseda University., Tokyo, Japan. jkryu@ruri.waseda.jp","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110303671","display_name":"Jung-Shik Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157747","display_name":"Daeduk University","ror":"https://ror.org/05ba5yp12","country_code":"KR","type":"education","lineage":["https://openalex.org/I4210157747"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung-Shik Kong","raw_affiliation_strings":["Department of Micro Robot, Daeduk College, Daejeon, South Korea","Dept. of Micro robot, Daeduk college, Daejeon, Korea. jskong@ddc.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro Robot, Daeduk College, Daejeon, South Korea","institution_ids":["https://openalex.org/I4210157747"]},{"raw_affiliation_string":"Dept. of Micro robot, Daeduk college, Daejeon, Korea. jskong@ddc.ac.kr","institution_ids":["https://openalex.org/I4210157747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060865459","display_name":"Jae-Hong Shim","orcid":"https://orcid.org/0000-0001-9203-8724"},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Tech University of Korea","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Hong Shim","raw_affiliation_strings":["Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","Dept. of Mechatronics Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. jhshim@kpu.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I1322422313"]},{"raw_affiliation_string":"Dept. of Mechatronics Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. jhshim@kpu.ac.kr","institution_ids":["https://openalex.org/I1322422313"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042410366","display_name":"Eung-Hyuk Lee","orcid":"https://orcid.org/0000-0002-4434-0694"},"institutions":[{"id":"https://openalex.org/I1322422313","display_name":"Tech University of Korea","ror":"https://ror.org/0060vt104","country_code":"KR","type":"education","lineage":["https://openalex.org/I1322422313"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eung-Hyuk Lee","raw_affiliation_strings":["Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","Dept. of Electronic Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. ehlee@kpu.ac.kr, eyesonme@kpu.ac.kr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Korea Polytechnic University, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I1322422313"]},{"raw_affiliation_string":"Dept. of Electronic Engineering, Korea Polytechnic Univ., Gyeonggi-Do, Korea. ehlee@kpu.ac.kr, eyesonme@kpu.ac.kr","institution_ids":["https://openalex.org/I1322422313"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3284,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.8623072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"234","last_page":"239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9902999997138977,"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/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.8628687262535095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8123348951339722},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8080127835273743},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8001011610031128},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7836583256721497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6176547408103943},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5659756660461426},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5521831512451172},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.533503532409668},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.533029317855835},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.486172616481781},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.456114262342453},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4368996024131775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24654150009155273}],"concepts":[{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.8628687262535095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8123348951339722},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8080127835273743},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8001011610031128},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7836583256721497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6176547408103943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5659756660461426},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5521831512451172},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.533503532409668},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.533029317855835},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.486172616481781},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.456114262342453},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4368996024131775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24654150009155273},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2007.4415086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2007.4415086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1563509082","https://openalex.org/W2029278364","https://openalex.org/W2085261163","https://openalex.org/W2112734135","https://openalex.org/W2124386111","https://openalex.org/W2151103935","https://openalex.org/W2163309052"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"One":[0],"of":[1,5,118,121,139,149],"the":[2,6,26,42,72,85,119,122,126,131,136,140,145,150,154],"important":[3],"factors":[4],"autonomous":[7],"mobile":[8,43,141,151],"robot":[9,44,86,152],"is":[10,68,108],"to":[11,28],"build":[12],"a":[13],"map":[14,66,78,83,94],"for":[15],"surround":[16],"environment":[17],"and":[18,75,95],"estimate":[19],"its":[20,96,115],"localization.":[21],"This":[22],"paper":[23],"deals":[24],"with":[25,37,91],"method":[27,133],"improve":[29],"localization":[30,147],"result":[31],"by":[32,57,71,98,105],"using":[33,58,106],"scale":[34,51],"invariant":[35,52,61],"feature":[36,62,82,93],"single":[38],"camera.":[39],"In":[40],"detail,":[41],"attaches":[45],"monocular":[46],"camera":[47],"looking":[48],"wall":[49],"extracts":[50],"features":[53,74],"in":[54,101],"each":[55],"image":[56],"SIFT":[59,107],"(scale":[60],"transform).":[63],"And":[64],"then,":[65],"building":[67],"carried":[69],"out":[70],"extracted":[73],"stores":[76],"it":[77,112],"database.":[79],"After":[80],"finishing":[81],"building,":[84],"finds":[87],"some":[88],"points":[89],"matched":[90],"previous":[92],"pose":[97,116],"affine":[99],"parameter":[100],"real":[102],"time.":[103],"Localization":[104],"accurate":[109],"relatively,":[110],"but":[111],"sometimes":[113],"loses":[114],"because":[117],"change":[120],"lights.":[123],"To":[124],"compensate":[125],"following":[127],"problem,":[128],"we":[129],"apply":[130],"compensation":[132],"that":[134],"uses":[135],"odometry":[137],"information":[138],"robot.":[142],"We":[143],"verify":[144],"improved":[146],"performance":[148],"from":[153],"experiments.":[155]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}