{"id":"https://openalex.org/W2563074527","doi":"https://doi.org/10.1109/ssrr.2016.7784270","title":"Robust direct visual odometry using mutual information","display_name":"Robust direct visual odometry using mutual information","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563074527","doi":"https://doi.org/10.1109/ssrr.2016.7784270","mag":"2563074527"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5060596140","display_name":"Kumar Shaurya Shankar","orcid":"https://orcid.org/0000-0002-1267-733X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kumar Shaurya Shankar","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060596140"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.6759,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.78417325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"9","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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":0.9990000128746033,"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":0.994700014591217,"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":0.9890000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8160731196403503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7266741394996643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122511267662048},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.694121241569519},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6131064891815186},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6110556125640869},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42332810163497925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2202628254890442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21978217363357544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07246187329292297}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8160731196403503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7266741394996643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122511267662048},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.694121241569519},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6131064891815186},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6110556125640869},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42332810163497925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2202628254890442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21978217363357544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07246187329292297},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2016.7784270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W71181622","https://openalex.org/W154438632","https://openalex.org/W612478963","https://openalex.org/W1003976089","https://openalex.org/W1495772314","https://openalex.org/W1579142030","https://openalex.org/W1867824895","https://openalex.org/W1874027545","https://openalex.org/W2020100468","https://openalex.org/W2021851106","https://openalex.org/W2028334185","https://openalex.org/W2030233188","https://openalex.org/W2035379092","https://openalex.org/W2059898159","https://openalex.org/W2092939357","https://openalex.org/W2093027067","https://openalex.org/W2108134361","https://openalex.org/W2119788800","https://openalex.org/W2120838001","https://openalex.org/W2141104431","https://openalex.org/W2148228392","https://openalex.org/W2149157079","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2156875677","https://openalex.org/W2160952634","https://openalex.org/W2162833336","https://openalex.org/W2173782939","https://openalex.org/W2319876836","https://openalex.org/W2346302318","https://openalex.org/W2731606020","https://openalex.org/W4285719527","https://openalex.org/W6602917468","https://openalex.org/W6607989984","https://openalex.org/W6626234927","https://openalex.org/W6681940599","https://openalex.org/W6684050148","https://openalex.org/W6700041500","https://openalex.org/W6704899771"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W4390187686","https://openalex.org/W2787146399","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"Robust":[0],"vision-based":[1],"state":[2,113],"estimation":[3,114],"in":[4,42,115],"real-world":[5],"indoor":[6],"and":[7,22,49,70,102],"outdoor":[8],"environments":[9],"is":[10,31,63],"a":[11,52,78,91],"challenging":[12],"problem":[13],"due":[14],"to":[15,66,77],"the":[16,35,72,96,103],"combination":[17],"of":[18,26,38,74,81,99,105],"drastic":[19,67],"lighting":[20],"changes":[21],"limited":[23],"dynamic":[24],"range":[25],"commodity":[27],"cameras.":[28],"This":[29],"limitation":[30],"at":[32],"odds":[33],"with":[34],"fundamental":[36],"constancy":[37],"illumination":[39,68],"assumption":[40],"made":[41],"image-intensity":[43],"based":[44,56,84,108],"tracking":[45,60,86,110],"methodologies.":[46],"We":[47],"present":[48],"experimentally":[50],"validate":[51],"Mutual":[53],"Information":[54],"(MI)":[55],"dense":[57],"rigid":[58],"body":[59],"algorithm":[61,76],"that":[62,94],"demonstrably":[64],"robust":[65,112],"changes,":[69],"compare":[71],"performance":[73],"this":[75],"canonical":[79],"Sum":[80],"Squared":[82],"Differences":[83],"Lucas-Kanade":[85,109],"formulation.":[87],"Further,":[88],"we":[89],"propose":[90],"novel":[92],"approach":[93],"combines":[95],"robustness":[97],"benefits":[98],"information-based":[100],"measures":[101],"speed":[104],"traditional":[106],"intensity":[107],"for":[111],"real-time.":[116]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}