{"id":"https://openalex.org/W3123994244","doi":"https://doi.org/10.1109/ssrr50563.2020.9292615","title":"Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops","display_name":"Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3123994244","doi":"https://doi.org/10.1109/ssrr50563.2020.9292615","mag":"3123994244"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5101430205","display_name":"Hao Xu","orcid":"https://orcid.org/0009-0002-4296-9883"},"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":true,"raw_author_name":"Hao Xu","raw_affiliation_strings":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069375578","display_name":"Ren Komatsu","orcid":"https://orcid.org/0000-0002-6526-0802"},"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":"Ren Komatsu","raw_affiliation_strings":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030815105","display_name":"Hanwool Woo","orcid":"https://orcid.org/0000-0002-8586-4304"},"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":"Hanwool Woo","raw_affiliation_strings":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034743350","display_name":"Angela Faragasso","orcid":"https://orcid.org/0000-0002-8948-3592"},"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":"Angela Faragasso","raw_affiliation_strings":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"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":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The 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":["School of Engineering, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101430205"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.3451,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74788109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"33","issue":null,"first_page":"176","last_page":"181"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"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":0.9936000108718872,"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/orientation","display_name":"Orientation (vector space)","score":0.7580914497375488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7384361028671265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7361583709716797},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7102015614509583},{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.5698809027671814},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5460432171821594},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4931144416332245},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46183136105537415},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4577852487564087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.411379873752594},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4104488790035248},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.19344300031661987},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10076165199279785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09224990010261536}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7580914497375488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7384361028671265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7361583709716797},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7102015614509583},{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.5698809027671814},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5460432171821594},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4931144416332245},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46183136105537415},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4577852487564087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.411379873752594},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4104488790035248},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.19344300031661987},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10076165199279785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09224990010261536},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1583113159","https://openalex.org/W1992989752","https://openalex.org/W2033819227","https://openalex.org/W2035866593","https://openalex.org/W2085261163","https://openalex.org/W2095583632","https://openalex.org/W2133059825","https://openalex.org/W2167667767","https://openalex.org/W2236623899","https://openalex.org/W2473967151","https://openalex.org/W2535547924","https://openalex.org/W2770260910","https://openalex.org/W2785915111","https://openalex.org/W2976820132","https://openalex.org/W3102327032","https://openalex.org/W3112731148"],"related_works":["https://openalex.org/W2799243310","https://openalex.org/W2949130880","https://openalex.org/W2964344438","https://openalex.org/W4299949964","https://openalex.org/W2089711468","https://openalex.org/W2348809881","https://openalex.org/W2601467812","https://openalex.org/W3203504087","https://openalex.org/W2244279624","https://openalex.org/W2536898772"],"abstract_inverted_index":{"In":[0,65],"this":[1],"paper,":[2],"we":[3,128],"propose":[4],"a":[5,130],"novel":[6,131],"camera":[7,78],"orientation":[8,27,79],"estimation":[9,28,52],"method":[10,142,197],"based":[11],"on":[12],"the":[13,16,77,88,91,107,144,149,156,159,183,186,200,208],"computation":[14],"of":[15,19,33,48,90,95,109,137,151,158,185,191,203],"vanishing":[17,145,201],"point":[18,146,202],"water":[20,152,204],"drops":[21,205],"in":[22,80,100,106],"leaking":[23,138],"indoor":[24,110,139],"environment.":[25,140],"Camera":[26,51],"is":[29],"an":[30],"important":[31],"component":[32],"robots":[34],"as":[35,44,57,83],"it":[36],"allows":[37],"them":[38],"to":[39,75,120,154,181],"perform":[40,98],"complex":[41],"tasks":[42],"such":[43,56],"three-dimensional":[45],"(3D)":[46],"reconstruction":[47],"different":[49],"environments.":[50],"usually":[53],"involves":[54],"sensors,":[55],"cameras":[58],"or":[59],"encoders":[60],"and":[61,122,174,206],"sophisticated":[62],"processing":[63],"algorithms.":[64],"recent":[66],"years,":[67],"computer":[68],"vision":[69],"techniques":[70],"have":[71,178],"been":[72,179],"widely":[73],"used":[74],"estimate":[76,155,207],"robotics-related":[81],"research":[82],"visual":[84,114],"sensing":[85],"can":[86,164,198],"improve":[87],"autonomy":[89],"systems.":[92],"Although":[93],"most":[94],"these":[96,126,192],"methods":[97],"well":[99],"outdoor":[101],"environments,":[102],"they":[103],"are":[104],"problematic":[105],"environments":[108],"disasters,":[111],"where":[112],"common":[113],"features":[115],"may":[116],"be":[117,166],"missing":[118],"due":[119],"collapse":[121],"erosion.":[123],"To":[124],"solve":[125],"problems,":[127],"developed":[129],"technique":[132,163],"that":[133,195],"employs":[134],"particular":[135],"characteristics":[136],"Our":[141],"uses":[143],"generated":[147],"form":[148],"trajectories":[150],"drops,":[153],"rotation":[157,209],"camera.":[160],"The":[161,189],"proposed":[162,187],"potentially":[165],"applied":[167],"for":[168],"inspecting":[169],"nuclear":[170],"power":[171],"plants.":[172],"Computer-simulated":[173],"real":[175],"data":[176],"experiments":[177,193],"performed":[180],"evaluate":[182],"accuracy":[184],"method.":[188],"results":[190],"demonstrate":[194],"our":[196],"detect":[199],"angle":[210],"accurately.":[211]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
