{"id":"https://openalex.org/W2555800792","doi":"https://doi.org/10.1109/rtsi.2016.7740560","title":"Accurate omnidirectional multi-camera embedded structure from motion","display_name":"Accurate omnidirectional multi-camera embedded structure from motion","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2555800792","doi":"https://doi.org/10.1109/rtsi.2016.7740560","mag":"2555800792"},"language":"en","primary_location":{"id":"doi:10.1109/rtsi.2016.7740560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rtsi.2016.7740560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 2nd International Forum on Research and Technologies for Society and Industry Leveraging a better tomorrow (RTSI)","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/A5066634453","display_name":"Marco Paracchini","orcid":"https://orcid.org/0000-0003-4040-5742"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Paracchini","raw_affiliation_strings":["DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078045934","display_name":"Angelo Schepis","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Angelo Schepis","raw_affiliation_strings":["DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002213720","display_name":"Marco Marcon","orcid":"https://orcid.org/0000-0001-6557-2120"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Marcon","raw_affiliation_strings":["DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"DEIB - Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030840085","display_name":"Mirko Falchetto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154781","display_name":"STMicroelectronics (Italy)","ror":"https://ror.org/053bqv655","country_code":"IT","type":"company","lineage":["https://openalex.org/I131827901","https://openalex.org/I4210154781"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mirko Falchetto","raw_affiliation_strings":["Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy","institution_ids":["https://openalex.org/I4210154781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018246682","display_name":"Emanuele Plebani","orcid":"https://orcid.org/0000-0002-7809-9616"},"institutions":[{"id":"https://openalex.org/I4210154781","display_name":"STMicroelectronics (Italy)","ror":"https://ror.org/053bqv655","country_code":"IT","type":"company","lineage":["https://openalex.org/I131827901","https://openalex.org/I4210154781"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Plebani","raw_affiliation_strings":["Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy","institution_ids":["https://openalex.org/I4210154781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036123913","display_name":"Danilo Pau","orcid":"https://orcid.org/0000-0003-1585-2313"},"institutions":[{"id":"https://openalex.org/I4210154781","display_name":"STMicroelectronics (Italy)","ror":"https://ror.org/053bqv655","country_code":"IT","type":"company","lineage":["https://openalex.org/I131827901","https://openalex.org/I4210154781"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Danilo Pau","raw_affiliation_strings":["Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced System Technology, STMicroelectronics, Agrate Brianza, Italy","institution_ids":["https://openalex.org/I4210154781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5066634453"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.167,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5864702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7368713021278381},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5787627696990967},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5399719476699829},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5220624804496765},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5064951181411743},{"id":"https://openalex.org/keywords/low-latency","display_name":"Low latency (capital markets)","score":0.5039274096488953},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5002319812774658},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4928283989429474},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.4503992795944214},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4452708661556244},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.43746417760849},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4215450882911682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38411250710487366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3829602897167206},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.32932013273239136},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3095471262931824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14656054973602295},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0942152738571167}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7368713021278381},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5787627696990967},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5399719476699829},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5220624804496765},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5064951181411743},{"id":"https://openalex.org/C46637626","wikidata":"https://www.wikidata.org/wiki/Q6693015","display_name":"Low latency (capital markets)","level":2,"score":0.5039274096488953},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5002319812774658},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4928283989429474},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.4503992795944214},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4452708661556244},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.43746417760849},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4215450882911682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38411250710487366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3829602897167206},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.32932013273239136},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3095471262931824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14656054973602295},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0942152738571167},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/rtsi.2016.7740560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rtsi.2016.7740560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 2nd International Forum on Research and Technologies for Society and Industry Leveraging a better tomorrow (RTSI)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1004096","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1004096","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6800000071525574,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1986556718","https://openalex.org/W2033819227","https://openalex.org/W2044542697","https://openalex.org/W2048249748","https://openalex.org/W2096901547","https://openalex.org/W2097181751","https://openalex.org/W2099343826","https://openalex.org/W2118341165","https://openalex.org/W2130363675","https://openalex.org/W2150066425","https://openalex.org/W2155056756","https://openalex.org/W2167222293","https://openalex.org/W2408546102","https://openalex.org/W2536927294","https://openalex.org/W6674285590","https://openalex.org/W6679159321","https://openalex.org/W6729099317"],"related_works":["https://openalex.org/W2550823067","https://openalex.org/W2805880315","https://openalex.org/W2071638828","https://openalex.org/W2170070567","https://openalex.org/W117099968","https://openalex.org/W3016388161","https://openalex.org/W2416513692","https://openalex.org/W4365211488","https://openalex.org/W184711444","https://openalex.org/W2894859175"],"abstract_inverted_index":{"Trajectory":[0],"estimation":[1],"and":[2,47,89,122,138],"3D":[3],"scene":[4],"reconstruction":[5],"from":[6,13],"multiple":[7],"cameras":[8],"(also":[9],"referred":[10],"as":[11,87],"Structure":[12],"Motion,":[14],"SfM)":[15],"will":[16,30],"have":[17],"a":[18,67,75,106,132],"central":[19],"role":[20],"in":[21,53],"the":[22,64,97,119,125,128,135,142,151],"future":[23],"of":[24,66,96,141],"automotive":[25],"industry.":[26],"Typical":[27],"appliance":[28],"fields":[29],"be:":[31],"autonomous":[32,129],"navigation/guidance,":[33],"collisions":[34],"avoidance":[35],"against":[36],"static":[37],"or":[38,127],"moving":[39],"objects":[40],"(in":[41],"particular":[42],"pedestrians),":[43],"parking":[44],"assisted":[45],"maneuvers":[46],"many":[48],"more.":[49],"The":[50],"work":[51],"exposed":[52],"this":[54,149],"paper":[55],"had":[56],"mainly":[57],"two":[58],"different":[59,94],"goals:":[60],"(1)":[61],"to":[62,100,117,147],"describe":[63],"implementation":[65],"real":[68],"time":[69],"embedded":[70],"SfM":[71],"modular":[72],"pipeline":[73],"featuring":[74],"dedicated":[76],"optimized":[77],"HW/SW":[78],"system":[79,120],"partitioning.":[80],"It":[81],"included":[82],"also":[83],"nonlinear":[84],"optimizations":[85],"such":[86],"local":[88],"global":[90],"bundle":[91],"adjustment":[92],"at":[93],"stages":[95],"pipeline;":[98],"(2)":[99],"demonstrate":[101],"quantitatively":[102],"its":[103,113],"performances":[104],"on":[105],"synthetic":[107],"test":[108],"space":[109],"specifically":[110],"designed":[111],"for":[112],"characterization.":[114],"In":[115],"order":[116],"make":[118,148],"reliable":[121],"effective,":[123],"providing":[124],"driver":[126],"vehicle":[130],"with":[131],"prompt":[133],"response,":[134],"data":[136],"rates":[137],"low":[139],"latency":[140],"5G":[143],"communication":[144,154],"systems":[145],"appear":[146],"choice":[150],"most":[152],"promising":[153],"solution.":[155]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}