{"id":"https://openalex.org/W2296613180","doi":"https://doi.org/10.1109/tase.2015.2469726","title":"6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features","display_name":"6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features","publication_year":2015,"publication_date":"2015-09-11","ids":{"openalex":"https://openalex.org/W2296613180","doi":"https://doi.org/10.1109/tase.2015.2469726","mag":"2296613180","pmid":"https://pubmed.ncbi.nlm.nih.gov/26924949"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2015.2469726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2015.2469726","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/TASE.2015.2469726","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029430056","display_name":"Cang Ye","orcid":"https://orcid.org/0000-0003-3344-3820"},"institutions":[{"id":"https://openalex.org/I102401767","display_name":"University of Arkansas at Little Rock","ror":"https://ror.org/04fttyv97","country_code":"US","type":"education","lineage":["https://openalex.org/I102401767"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Cang Ye","raw_affiliation_strings":["Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","institution_ids":["https://openalex.org/I102401767"]},{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA","institution_ids":["https://openalex.org/I102401767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050766711","display_name":"Soonhac Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I102401767","display_name":"University of Arkansas at Little Rock","ror":"https://ror.org/04fttyv97","country_code":"US","type":"education","lineage":["https://openalex.org/I102401767"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soonhac Hong","raw_affiliation_strings":["Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","institution_ids":["https://openalex.org/I102401767"]},{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA","institution_ids":["https://openalex.org/I102401767"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086215345","display_name":"Amirhossein Tamjidi","orcid":"https://orcid.org/0000-0002-9273-3468"},"institutions":[{"id":"https://openalex.org/I102401767","display_name":"University of Arkansas at Little Rock","ror":"https://ror.org/04fttyv97","country_code":"US","type":"education","lineage":["https://openalex.org/I102401767"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amirhossein Tamjidi","raw_affiliation_strings":["Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204, USA","institution_ids":["https://openalex.org/I102401767"]},{"raw_affiliation_string":"Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR, USA","institution_ids":["https://openalex.org/I102401767"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029430056"],"corresponding_institution_ids":["https://openalex.org/I102401767"],"apc_list":null,"apc_paid":null,"fwci":12.2741,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.9828673,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"12","issue":"4","first_page":"1169","last_page":"1180"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8714979887008667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8182063102722168},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7707269191741943},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.7336576581001282},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6467086672782898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.561073899269104},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4515674114227295},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15281942486763}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8714979887008667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8182063102722168},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7707269191741943},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.7336576581001282},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6467086672782898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.561073899269104},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4515674114227295},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15281942486763}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2015.2469726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2015.2469726","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmid:26924949","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26924949","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4763992","is_oa":true,"landing_page_url":"http://doi.org/10.1109/TASE.2015.2469726","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4763992","is_oa":true,"landing_page_url":"http://doi.org/10.1109/TASE.2015.2469726","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4242244431","display_name":null,"funder_award_id":"IIS-1017672","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8173803374","display_name":null,"funder_award_id":"NNX13AD32A","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G8868139328","display_name":null,"funder_award_id":"R01EB018117","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337350","display_name":"National Eye Institute","ror":"https://ror.org/03wkg3b53"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1563239911","https://openalex.org/W1987270859","https://openalex.org/W1988874269","https://openalex.org/W1994075312","https://openalex.org/W2039328151","https://openalex.org/W2080823437","https://openalex.org/W2088303735","https://openalex.org/W2096583235","https://openalex.org/W2101849489","https://openalex.org/W2103453923","https://openalex.org/W2110670751","https://openalex.org/W2112082021","https://openalex.org/W2118428504","https://openalex.org/W2123388120","https://openalex.org/W2127578024","https://openalex.org/W2138838851","https://openalex.org/W2141392906","https://openalex.org/W2146881125","https://openalex.org/W2151103935","https://openalex.org/W2151774119","https://openalex.org/W2152671441","https://openalex.org/W2160468691","https://openalex.org/W2161441681","https://openalex.org/W2168560624","https://openalex.org/W2509493982","https://openalex.org/W3083706479","https://openalex.org/W4243425824","https://openalex.org/W6675607693","https://openalex.org/W6680379668","https://openalex.org/W6680681401","https://openalex.org/W6684793691","https://openalex.org/W6724925041"],"related_works":["https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W2553945284","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2736638679","https://openalex.org/W1968716783","https://openalex.org/W4313046826"],"abstract_inverted_index":{"This":[0,80],"work":[1,203],"was":[2],"motivated":[3],"by":[4,158],"the":[5,8,13,18,77,118,123,146,149,154,166,174,193],"limitations":[6],"of":[7,17,135,165,177,192],"existing":[9,19,136],"navigation":[10,188],"technology":[11],"for":[12,26,57,86,99],"visually":[14],"impaired.":[15],"Most":[16],"methods":[20],"use":[21],"a":[22,40,65,83,88,94,111,130,178,185,199],"point/line":[23],"measurement":[24,72],"sensor":[25],"indoor":[27],"object":[28,58,105],"detection.":[29,59],"Therefore,":[30],"they":[31],"lack":[32],"capability":[33],"in":[34,47,110,129,153],"detecting":[35],"3D":[36,96,104],"objects":[37],"and":[38,103,107,162,182],"positioning":[39],"blind":[41,89],"traveler.":[42,90],"Stereovision":[43],"has":[44],"been":[45],"used":[46],"recent":[48],"research.":[49],"However,":[50],"it":[51,61,197],"cannot":[52],"provide":[53],"reliable":[54],"depth":[55,71,121],"data":[56],"Also,":[60],"tends":[62],"to":[63,117,144,202],"produce":[64],"lower":[66],"localization":[67],"accuracy":[68],"because":[69],"its":[70],"error":[73,132,176],"quadratically":[74],"increases":[75],"with":[76],"true":[78],"distance.":[79],"paper":[81],"suggests":[82],"new":[84,139],"approach":[85],"navigating":[87],"The":[91,169],"method":[92,127,141,171,181,194],"uses":[93],"single":[95],"time-of-flight":[97],"camera":[98],"both":[100,160],"6-DOF":[101,151],"PE":[102],"detection":[106],"thus":[108,183],"results":[109,128],"small-sized":[112],"but":[113],"powerful":[114],"RNA.":[115],"Due":[116],"camera's":[119],"constant":[120],"accuracy,":[122],"proposed":[124,143,170],"egomotion":[125,147],"estimation":[126],"smaller":[131],"than":[133],"that":[134,196],"methods.":[137],"A":[138],"EKF":[140,180],"is":[142,195],"integrate":[145],"into":[148],"RNA's":[150],"pose":[152,175],"world":[155],"coordinate":[156],"system":[157],"tracking":[159],"visual":[161],"geometric":[163],"features":[164],"operating":[167],"environment.":[168],"substantially":[172],"reduces":[173],"standard":[179],"supports":[184],"longer":[186],"range":[187],"task.":[189],"One":[190],"limitation":[191],"requires":[198],"feature-rich":[200],"environment":[201],"well.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}