{"id":"https://openalex.org/W2771437849","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215301","title":"ORB-ODOM: Stereo and odometer sensor fusion for simultaneous localization and mapping","display_name":"ORB-ODOM: Stereo and odometer sensor fusion for simultaneous localization and mapping","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2771437849","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215301","mag":"2771437849"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11449/163959","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056189295","display_name":"Brenno A. C. Caldato","orcid":null},"institutions":[{"id":"https://openalex.org/I879563668","display_name":"Universidade Estadual Paulista (Unesp)","ror":"https://ror.org/00987cb86","country_code":"BR","type":"education","lineage":["https://openalex.org/I879563668"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Brenno A. C. Caldato","raw_affiliation_strings":["The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil","institution_ids":["https://openalex.org/I879563668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035708038","display_name":"Ricardo Achilles Filho","orcid":null},"institutions":[{"id":"https://openalex.org/I879563668","display_name":"Universidade Estadual Paulista (Unesp)","ror":"https://ror.org/00987cb86","country_code":"BR","type":"education","lineage":["https://openalex.org/I879563668"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Ricardo Achilles Filho","raw_affiliation_strings":["The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil","institution_ids":["https://openalex.org/I879563668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056246998","display_name":"Jos\u00e9 Eduardo Cogo Castanho","orcid":"https://orcid.org/0000-0003-1762-7478"},"institutions":[{"id":"https://openalex.org/I879563668","display_name":"Universidade Estadual Paulista (Unesp)","ror":"https://ror.org/00987cb86","country_code":"BR","type":"education","lineage":["https://openalex.org/I879563668"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jose Eduardo C. Castanho","raw_affiliation_strings":["The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The authors are with Dept. of Electrical Eng., S\u00e3o Paulo State University (Unesp), Bauru, Brazil","institution_ids":["https://openalex.org/I879563668"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I879563668"],"apc_list":null,"apc_paid":null,"fwci":6.4961,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96901998,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9958999752998352,"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/odometer","display_name":"Odometer","score":0.963882327079773},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.8535254597663879},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7838993072509766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7563885450363159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7305313348770142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7166007161140442},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6119020581245422},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5636523962020874},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49301716685295105},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.484973669052124},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.480436772108078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3030390739440918},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23112866282463074},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10189884901046753}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.963882327079773},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8535254597663879},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7838993072509766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7563885450363159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7305313348770142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7166007161140442},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6119020581245422},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5636523962020874},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49301716685295105},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.484973669052124},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.480436772108078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3030390739440918},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23112866282463074},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10189884901046753},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"},{"id":"pmh:oai:repositorio.unesp.br:11449/163959","is_oa":true,"landing_page_url":"http://hdl.handle.net/11449/163959","pdf_url":null,"source":{"id":"https://openalex.org/S4377196277","display_name":"UNESP Institutional Repository (S\u00e3o Paulo State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I879563668","host_organization_name":"Universidade Estadual Paulista (Unesp)","host_organization_lineage":["https://openalex.org/I879563668"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},{"id":"pmh:oai:repositorio.unesp.br:11449/171104","is_oa":true,"landing_page_url":"http://hdl.handle.net/11449/171104","pdf_url":null,"source":{"id":"https://openalex.org/S4377196277","display_name":"UNESP Institutional Repository (S\u00e3o Paulo State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I879563668","host_organization_name":"Universidade Estadual Paulista (Unesp)","host_organization_lineage":["https://openalex.org/I879563668"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:repositorio.unesp.br:11449/163959","is_oa":true,"landing_page_url":"http://hdl.handle.net/11449/163959","pdf_url":null,"source":{"id":"https://openalex.org/S4377196277","display_name":"UNESP Institutional Repository (S\u00e3o Paulo State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I879563668","host_organization_name":"Universidade Estadual Paulista (Unesp)","host_organization_lineage":["https://openalex.org/I879563668"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325879","display_name":"Universidade Estadual Paulista","ror":"https://ror.org/00987cb86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W2003315864","https://openalex.org/W2015996585","https://openalex.org/W2071715082","https://openalex.org/W2073660060","https://openalex.org/W2080823437","https://openalex.org/W2103755599","https://openalex.org/W2140030375","https://openalex.org/W2342437324","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W3102327032","https://openalex.org/W3103648783"],"related_works":["https://openalex.org/W2536504876","https://openalex.org/W2989564752","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W4392940792","https://openalex.org/W2414561716","https://openalex.org/W4311640531","https://openalex.org/W3161199934","https://openalex.org/W321362102"],"abstract_inverted_index":{"ORB-SLAM2":[0,40],"is":[1],"one":[2],"of":[3,14],"the":[4,12,25,62,78,94],"better-known":[5],"open":[6],"source":[7],"SLAM":[8],"implementations":[9],"available.":[10],"However,":[11],"dependence":[13],"visual":[15,35],"features":[16],"causes":[17],"it":[18],"to":[19,33,47,60],"fail":[20],"in":[21,93],"featureless":[22],"environments.":[23],"With":[24],"present":[26],"work,":[27,55],"we":[28,56],"propose":[29],"a":[30,42,73,98],"new":[31,74],"technique":[32],"improve":[34,61],"odometry":[36],"results":[37,64],"given":[38],"by":[39,65],"using":[41,85],"tightly":[43],"Sensor":[44],"Fusion":[45],"approach":[46],"integrate":[48],"camera":[49],"and":[50,71,89],"odometer":[51,58],"data.":[52],"In":[53],"this":[54],"use":[57],"readings":[59],"tracking":[63,79,100],"adding":[66],"graph":[67],"constraints":[68],"between":[69],"frames":[70],"introduce":[72],"method":[75,84],"for":[76],"preventing":[77],"loss.":[80],"We":[81],"test":[82],"our":[83],"three":[86],"different":[87],"datasets,":[88],"show":[90],"an":[91],"improvement":[92],"estimated":[95],"trajectory,":[96],"allowing":[97],"continuous":[99],"without":[101],"losses.":[102]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}