{"id":"https://openalex.org/W4321020368","doi":"https://doi.org/10.1109/sii55687.2023.10039123","title":"Monocular Navigation System for Corridor Environments Based on Relative Camera Pose Estimation: An Approach Without SLAM","display_name":"Monocular Navigation System for Corridor Environments Based on Relative Camera Pose Estimation: An Approach Without SLAM","publication_year":2023,"publication_date":"2023-01-17","ids":{"openalex":"https://openalex.org/W4321020368","doi":"https://doi.org/10.1109/sii55687.2023.10039123"},"language":"en","primary_location":{"id":"doi:10.1109/sii55687.2023.10039123","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii55687.2023.10039123","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","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/A5071315001","display_name":"Yasunori Hirakawa","orcid":null},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasunori Hirakawa","raw_affiliation_strings":["Meiji University,Graduate School of Science and Technology,Kanagawa,Japan,214-8571"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meiji University,Graduate School of Science and Technology,Kanagawa,Japan,214-8571","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110500378","display_name":"Yoji KURODA","orcid":null},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoji Kuroda","raw_affiliation_strings":["Meiji University,Graduate School of Science and Technology,Kanagawa,Japan,214-8571"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meiji University,Graduate School of Science and Technology,Kanagawa,Japan,214-8571","institution_ids":["https://openalex.org/I16656306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16656306"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9983999729156494,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.758994460105896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7248358130455017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6854830980300903},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6757681369781494},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6503475308418274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6175171136856079},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5674855709075928},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5422838926315308},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5366294980049133},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.505511999130249},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4917285740375519},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4637290835380554},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4356389045715332},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43175405263900757},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.41394951939582825},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4041100740432739},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1503981649875641},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1325276792049408}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.758994460105896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7248358130455017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6854830980300903},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6757681369781494},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6503475308418274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6175171136856079},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5674855709075928},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5422838926315308},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5366294980049133},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.505511999130249},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4917285740375519},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4637290835380554},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4356389045715332},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43175405263900757},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.41394951939582825},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4041100740432739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1503981649875641},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1325276792049408},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii55687.2023.10039123","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii55687.2023.10039123","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1522301498","https://openalex.org/W1532362218","https://openalex.org/W1577509784","https://openalex.org/W1612997784","https://openalex.org/W1686810756","https://openalex.org/W2108598243","https://openalex.org/W2200124539","https://openalex.org/W2621274416","https://openalex.org/W2892865870","https://openalex.org/W2909908358","https://openalex.org/W2922243907","https://openalex.org/W2964175348","https://openalex.org/W2985516791","https://openalex.org/W3026284479","https://openalex.org/W3036919210","https://openalex.org/W4220853955","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6638667902","https://openalex.org/W6780901898"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W4307623796","https://openalex.org/W2995270189","https://openalex.org/W2980723633","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W4381188157","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"monocular":[3,160],"navigation":[4,21,108,157],"in":[5,54,82,89,100,104,122],"monotonous":[6],"corridor":[7],"environments,":[8],"where":[9],"visual":[10],"simultaneous":[11],"localization":[12],"and":[13,38,60,84,131,133,143],"mapping":[14],"are":[15],"difficult.":[16],"We":[17],"developed":[18],"a":[19,25,101],"simple":[20],"system":[22,48,96,119],"based":[23],"on":[24,164],"relative":[26,67,135],"camera":[27],"pose":[28,68,136],"estimation":[29,69,137],"model":[30,70,138],"using":[31,158],"convolutional":[32],"neural":[33],"networks.":[34],"All":[35],"data":[36,145],"collection":[37],"experiments":[39],"were":[40],"conducted":[41],"by":[42],"running":[43],"the":[44,61,66,94,118,134,152],"real":[45],"robot.":[46],"Our":[47,147],"is":[49,71,144,149],"intended":[50],"to":[51,113],"be":[52],"used":[53],"applications":[55],"such":[56],"as":[57],"security":[58],"robots,":[59],"validation":[62],"results":[63],"show":[64],"that":[65,123],"sufficiently":[72],"accurate,":[73],"with":[74],"an":[75],"RMSE":[76],"of":[77,93,154],"less":[78,85],"than":[79,86],"1":[80],"[m]":[81],"position":[83],"6":[87],"[deg]":[88],"orientation.":[90],"The":[91],"effectiveness":[92],"proposed":[95],"was":[97,109],"also":[98],"confirmed":[99],"real-world":[102],"experiment,":[103],"which":[105],"fully":[106],"autonomous":[107,155],"performed":[110],"for":[111,151],"up":[112],"60":[114],"minutes.":[115],"In":[116],"addition,":[117],"has":[120,139],"advantages":[121],"it":[124],"does":[125],"not":[126],"require":[127],"complex":[128],"sensor":[129],"calibration":[130],"mapping,":[132],"good":[140],"generalization":[141],"performance":[142],"efficient.":[146],"research":[148],"important":[150],"realization":[153],"robot":[156],"only":[159],"cameras,":[161],"without":[162],"relying":[163],"detailed":[165],"metric":[166],"maps.":[167]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
