{"id":"https://openalex.org/W2786908248","doi":"https://doi.org/10.1109/sii.2017.8279213","title":"Estimation of scale and slope information for structure from motion-based 3D map","display_name":"Estimation of scale and slope information for structure from motion-based 3D map","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2786908248","doi":"https://doi.org/10.1109/sii.2017.8279213","mag":"2786908248"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2017.8279213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","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/A5103167139","display_name":"Yuyang Shao","orcid":"https://orcid.org/0000-0001-7632-072X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuyang Shao","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090163777","display_name":"Yonghoon Ji","orcid":"https://orcid.org/0000-0002-0828-6627"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yonghoon Ji","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026087837","display_name":"Hiromitsu Fujii","orcid":"https://orcid.org/0000-0002-7051-1194"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiromitsu Fujii","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050838590","display_name":"Keiji Nagatani","orcid":"https://orcid.org/0000-0003-2147-2712"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keiji Nagatani","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan","New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Department of Precision Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.38482482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"208","last_page":"213"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.996999979019165,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7918341159820557},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7401283383369446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6902235746383667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6322300434112549},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5780214071273804},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.565270185470581},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5068307518959045},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4971621334552765},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.42098867893218994},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.36471834778785706},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19910427927970886}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7918341159820557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7401283383369446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6902235746383667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6322300434112549},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5780214071273804},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.565270185470581},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5068307518959045},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4971621334552765},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.42098867893218994},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.36471834778785706},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19910427927970886},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2017.8279213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1965711210","https://openalex.org/W1990101796","https://openalex.org/W1992989752","https://openalex.org/W2022591200","https://openalex.org/W2033819227","https://openalex.org/W2035373203","https://openalex.org/W2108636361","https://openalex.org/W2117098034","https://openalex.org/W2124409014","https://openalex.org/W2148820580","https://openalex.org/W2148916113","https://openalex.org/W2536043048","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W1501297619","https://openalex.org/W2026674073","https://openalex.org/W2053820737","https://openalex.org/W1484667368","https://openalex.org/W1988727984","https://openalex.org/W2114253841","https://openalex.org/W2105413810","https://openalex.org/W13825435","https://openalex.org/W2382763213","https://openalex.org/W3110022498"],"abstract_inverted_index":{"Dealing":[0],"with":[1,49,157],"natural":[2],"disasters,":[3],"such":[4],"as":[5,55],"debris":[6],"flow,":[7],"typically":[8],"involves":[9],"teleoperation":[10],"of":[11,19,86],"an":[12,20,43,124],"unmanned":[13,28,33,44,125],"robot.":[14],"Three-dimensional":[15],"(3D)":[16],"map":[17,62,74],"information":[18,69,103,155],"environment":[21],"is":[22,146],"especially":[23],"useful":[24],"for":[25,70,104],"teleoperating":[26],"the":[27,71,84,133,151,158],"robot":[29],"system":[30],"to":[31,59,148],"perform":[32],"construction":[34],"and":[35,67,101,129,153],"auto-investigation.":[36],"Recently,":[37],"structure":[38],"from":[39,123,132],"motion":[40],"(SfM)":[41],"using":[42],"aerial":[45],"vehicle":[46,127],"(UAV)":[47],"equipped":[48],"monocular":[50],"cameras":[51],"has":[52],"been":[53],"proposed":[54],"a":[56,94,105,137],"general":[57,80],"method":[58,95],"build":[60],"3D":[61,73,106,159],"information.":[63],"However,":[64],"absolute":[65,99],"slope":[66,100,152],"scale":[68,102,154],"built":[72],"cannot":[75],"be":[76],"obtained":[77],"when":[78],"applying":[79],"SfM":[81],"technology":[82,115],"without":[83],"deployment":[85],"ground":[87,126],"control":[88],"points":[89],"(GCPs).":[90],"Therefore,":[91],"we":[92,111],"propose":[93],"that":[96,116,142],"can":[97],"recover":[98],"map.":[107,160],"To":[108],"this":[109],"end,":[110],"apply":[112],"sensor":[113],"fusion":[114],"combines":[117],"inertial":[118],"measurement":[119],"unit":[120],"(IMU)":[121],"data":[122,131],"(UGV)":[128],"image":[130],"camera":[134],"mounted":[135],"on":[136],"UAV.":[138],"Experimental":[139],"results":[140],"show":[141],"our":[143],"estimation":[144],"scheme":[145],"able":[147],"successfully":[149],"represent":[150],"along":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}