{"id":"https://openalex.org/W2124842567","doi":"https://doi.org/10.1109/wacv.2009.5403054","title":"Adaptive, real-time visual simultaneous localization and mapping","display_name":"Adaptive, real-time visual simultaneous localization and mapping","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2124842567","doi":"https://doi.org/10.1109/wacv.2009.5403054","mag":"2124842567"},"language":"en","primary_location":{"id":"doi:10.1109/wacv.2009.5403054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv.2009.5403054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 Workshop on Applications of Computer Vision (WACV)","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/A5063137015","display_name":"Brian Clipp","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Clipp","raw_affiliation_strings":["Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020965719","display_name":"Christopher Zach","orcid":"https://orcid.org/0000-0003-2840-6187"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Zach","raw_affiliation_strings":["Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061007351","display_name":"Jongwoo Lim","orcid":"https://orcid.org/0000-0002-2814-4765"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lim","raw_affiliation_strings":["Honda Research Institute USA, Inc., Mountain View, CA, USA"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018151384","display_name":"Jan\u2010Michael Frahm","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jan-Michael Frahm","raw_affiliation_strings":["Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021908609","display_name":"Marc Pollefeys","orcid":"https://orcid.org/0000-0003-2448-2318"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Marc Pollefeys","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Switzerland","Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Computer Science, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063137015"],"corresponding_institution_ids":["https://openalex.org/I137902535"],"apc_list":null,"apc_paid":null,"fwci":1.6992,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86499838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"8"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"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":0.9994999766349792,"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/computer-vision","display_name":"Computer vision","score":0.8004971146583557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.795405387878418},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.784537672996521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7661321759223938},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6338512301445007},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42245182394981384},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41975829005241394},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.41274118423461914},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17104563117027283}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8004971146583557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.795405387878418},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.784537672996521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7661321759223938},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6338512301445007},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42245182394981384},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41975829005241394},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.41274118423461914},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17104563117027283},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/wacv.2009.5403054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv.2009.5403054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 Workshop on Applications of Computer Vision (WACV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6499999761581421}],"awards":[],"funders":[{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W120566300","https://openalex.org/W170770739","https://openalex.org/W1661995841","https://openalex.org/W2032704023","https://openalex.org/W2085078372","https://openalex.org/W2085261163","https://openalex.org/W2113243634","https://openalex.org/W2115963228","https://openalex.org/W2124313187","https://openalex.org/W2128017662","https://openalex.org/W2133605096","https://openalex.org/W2134446283","https://openalex.org/W2140970842","https://openalex.org/W2144573889","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2171778162","https://openalex.org/W2296147781","https://openalex.org/W6637182498","https://openalex.org/W6678941962"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W4235240664","https://openalex.org/W2965083567","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W2163164795","https://openalex.org/W1996690921"],"abstract_inverted_index":{"In":[0,97],"this":[1,69,98],"paper":[2],"we":[3,71,88,100,113],"present":[4],"a":[5,14,90,115,124,131,202],"real-time":[6],"simultaneous":[7],"localization":[8],"and":[9,33,57,93,154,176,211],"mapping":[10],"system":[11,145,200],"which":[12,29,42,87],"uses":[13,146],"stereo":[15],"camera":[16,49,58,94],"as":[17],"its":[18],"only":[19,105],"input.":[20],"We":[21,194],"combine":[22],"the":[23,52,73,78,102,109,136,168,172,184,196,215],"benefits":[24],"of":[25,54,108,127,133,138,151,183,198],"KLT":[26,66,79,134],"feature":[27,45,55],"tracking,":[28],"include":[30],"high":[31],"speed":[32],"robustness":[34,197],"to":[35,81,104,135,157,170,191],"repetitive":[36],"features,":[37,41],"with":[38],"wide":[39],"baseline":[40],"allow":[43],"for":[44,86,187],"matching":[46],"after":[47],"large":[48],"motions.":[50],"Updating":[51],"map":[53,92,174],"locations":[56],"poses":[59],"is":[60],"considerably":[61],"more":[62],"expensive":[63],"than":[64],"performing":[65],"tracking.":[67],"For":[68],"reason":[70],"use":[72],"optical":[74],"flow":[75],"measured":[76],"by":[77,122],"tracker":[80],"adaptively":[82],"select":[83],"key":[84],"frames":[85],"do":[89],"full":[91],"pose":[95],"update.":[96],"way":[99],"limit":[101],"processing":[103],"\u00bfinteresting\u00bf":[106],"parts":[107],"video":[110],"sequence.":[111],"Additionally,":[112],"maintain":[114],"consistent":[116],"scene":[117,129],"scale":[118],"at":[119],"low":[120],"cost":[121],"using":[123],"GPU":[125],"implementation":[126],"multi-camera":[128],"flow,":[130],"generalization":[132],"motion":[137,160],"image":[139],"features":[140,152],"in":[141,177,201,214],"three":[142],"dimensions.":[143],"The":[144],"multiple":[147],"sub-maps;":[148],"scalable,":[149],"bag":[150],"recognition":[153],"geometric":[155],"verification":[156],"recover":[158],"from":[159],"estimation":[161],"failure":[162],"or":[163],"\u00bfkidnapping\u00bf.":[164],"This":[165],"architecture":[166],"allows":[167],"robot":[169],"grow":[171],"existing":[173],"online":[175],"real":[178],"time":[179],"while":[180],"storing":[181],"all":[182],"data":[185],"necessary":[186],"an":[188],"off-line":[189],"optimization":[190],"complete":[192],"loops.":[193],"demonstrate":[195],"our":[199],"challenging":[203],"indoor":[204],"environment":[205],"that":[206],"includes":[207],"semi-reflective":[208],"glass":[209],"walls":[210],"people":[212],"moving":[213],"scene.":[216]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
