{"id":"https://openalex.org/W2107815819","doi":"https://doi.org/10.1109/tro.2008.2004977","title":"Attentional Landmarks and Active Gaze Control for Visual SLAM","display_name":"Attentional Landmarks and Active Gaze Control for Visual SLAM","publication_year":2008,"publication_date":"2008-09-30","ids":{"openalex":"https://openalex.org/W2107815819","doi":"https://doi.org/10.1109/tro.2008.2004977","mag":"2107815819"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2004977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2004977","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-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/A5038082633","display_name":"Simone Frintrop","orcid":"https://orcid.org/0000-0002-9475-3593"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"S. Frintrop","raw_affiliation_strings":["Institute of Computer Science III, Rheinische Friedrich-Wilhems-Universit\u00e4t, Bonn, Germany","Inst. of Comput. Sci. III, Rheinische Friedrich-Wilhems-Univ., Bonn"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science III, Rheinische Friedrich-Wilhems-Universit\u00e4t, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Inst. of Comput. Sci. III, Rheinische Friedrich-Wilhems-Univ., Bonn","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE","SE"],"is_corresponding":false,"raw_author_name":"P. Jensfelt","raw_affiliation_strings":["Centre for Autonomous Systems (CAS), Royal Institute of Technology, Stockholm, Sweden","Inst. of Comput. Sci. III, Rheinische Friedrich-Wilhems-Univ., Bonn"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems (CAS), Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Inst. of Comput. Sci. III, Rheinische Friedrich-Wilhems-Univ., Bonn","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038082633"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":314.4991,"has_fulltext":false,"cited_by_count":148,"citation_normalized_percentile":{"value":0.99977991,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"24","issue":"5","first_page":"1054","last_page":"1065"},"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":0.9994000196456909,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9969000220298767,"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":0.8508572578430176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8322752714157104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811968088150024},{"id":"https://openalex.org/keywords/active-vision","display_name":"Active vision","score":0.6354577541351318},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6268442869186401},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.6035786271095276},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.5814982652664185},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5300072431564331},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5104724168777466},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5085841417312622},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.45183855295181274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2489977478981018},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20777347683906555}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8508572578430176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8322752714157104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811968088150024},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.6354577541351318},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6268442869186401},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.6035786271095276},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.5814982652664185},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5300072431564331},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5104724168777466},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5085841417312622},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.45183855295181274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2489977478981018},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20777347683906555}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2008.2004977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2004977","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.169.2788","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.169.2788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/%7Epatric/publications/frintropJensfeltTRO2008.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.7300000190734863,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W300551928","https://openalex.org/W1527636070","https://openalex.org/W1536855838","https://openalex.org/W1556357081","https://openalex.org/W1572655503","https://openalex.org/W1643815198","https://openalex.org/W1980911747","https://openalex.org/W1982452847","https://openalex.org/W2001323842","https://openalex.org/W2004835121","https://openalex.org/W2015997601","https://openalex.org/W2019370496","https://openalex.org/W2035132835","https://openalex.org/W2052357011","https://openalex.org/W2083200674","https://openalex.org/W2089597841","https://openalex.org/W2093353037","https://openalex.org/W2097989758","https://openalex.org/W2099980352","https://openalex.org/W2102621601","https://openalex.org/W2107667896","https://openalex.org/W2108673707","https://openalex.org/W2109142140","https://openalex.org/W2111308925","https://openalex.org/W2119747362","https://openalex.org/W2121369268","https://openalex.org/W2123417757","https://openalex.org/W2124404372","https://openalex.org/W2128017662","https://openalex.org/W2128272608","https://openalex.org/W2130103520","https://openalex.org/W2131846894","https://openalex.org/W2143864104","https://openalex.org/W2148820580","https://openalex.org/W2149095485","https://openalex.org/W2149659253","https://openalex.org/W2150785194","https://openalex.org/W2151103935","https://openalex.org/W2151180526","https://openalex.org/W2152408435","https://openalex.org/W2155193497","https://openalex.org/W2156561799","https://openalex.org/W2158600940","https://openalex.org/W2160535759","https://openalex.org/W2163309052","https://openalex.org/W2171028727","https://openalex.org/W2177274842","https://openalex.org/W2289458325","https://openalex.org/W2296039540","https://openalex.org/W2545360219","https://openalex.org/W2914331897","https://openalex.org/W4231002530","https://openalex.org/W4238681124","https://openalex.org/W4243970992","https://openalex.org/W6604776855","https://openalex.org/W6610707369","https://openalex.org/W6631629050","https://openalex.org/W6636906600","https://openalex.org/W6675018159","https://openalex.org/W6679388247","https://openalex.org/W6682120869","https://openalex.org/W6682324061","https://openalex.org/W6696432680"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W4243161226","https://openalex.org/W2010533810","https://openalex.org/W1581933381","https://openalex.org/W4307623796","https://openalex.org/W1523873368","https://openalex.org/W2980723633"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,183],"centered":[3],"around":[4],"landmark":[5],"detection,":[6],"tracking,":[7],"and":[8,14,33,58,79,152,189],"matching":[9],"for":[10,61],"visual":[11,48,62],"simultaneous":[12],"localization":[13],"mapping":[15],"using":[16,110],"a":[17,27,35,42,111,116,131,144,167],"monocular":[18,112],"vision":[19,113],"system":[20,28,50,114,188],"with":[21,115,185],"active":[22,155,191],"gaze":[23,99],"control.":[24],"We":[25],"present":[26],"that":[29,54,64,129,179,190],"specializes":[30],"in":[31,85,149,163,165],"creating":[32],"maintaining":[34],"sparse":[36],"set":[37],"of":[38,89,106,109,120,127,138,147,157],"landmarks":[39,63,78,91,128,141,148,158],"based":[40],"on":[41],"biologically":[43],"motivated":[44],"feature-selection":[45],"strategy.":[46],"A":[47],"attention":[49],"detects":[51],"salient":[52],"features":[53],"are":[55,65,70],"highly":[56],"discriminative":[57],"ideal":[59],"candidates":[60],"easy":[66],"to":[67,75,80,92,103,142,159,171],"redetect.":[68],"Features":[69],"tracked":[71],"over":[72],"several":[73],"frames":[74],"determine":[76],"stable":[77],"estimate":[81],"their":[82],"3-D":[83],"position":[84],"the":[86,107,125,136,150,154,173,186,195],"environment.":[87],"Matching":[88],"current":[90],"database":[93],"entries":[94],"enables":[95],"loop":[96,161],"closing.":[97],"Active":[98],"control":[100,193],"allows":[101],"us":[102],"overcome":[104],"some":[105],"limitations":[108],"relatively":[117],"small":[118],"field":[119],"view.":[121],"It":[122],"supports":[123],"1)":[124],"tracking":[126],"enable":[130,160],"better":[132,145],"pose":[133,181],"estimation,":[134],"2)":[135],"exploration":[137],"regions":[139],"without":[140],"obtain":[143],"distribution":[146],"environment,":[151],"3)":[153],"redetection":[156],"closing":[162],"situations":[164],"which":[166],"fixed":[168],"camera":[169,192],"fails":[170],"close":[172],"loop.":[174],"Several":[175],"real-world":[176],"experiments":[177],"show":[178],"accurate":[180],"estimation":[182],"obtained":[184],"presented":[187],"outperforms":[194],"passive":[196],"approach.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":20},{"year":2012,"cited_by_count":12}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
