{"id":"https://openalex.org/W2167248794","doi":"https://doi.org/10.1109/wacv.2011.5711569","title":"SLAM combining ToF and high-resolution cameras","display_name":"SLAM combining ToF and high-resolution cameras","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W2167248794","doi":"https://doi.org/10.1109/wacv.2011.5711569","mag":"2167248794"},"language":"en","primary_location":{"id":"doi:10.1109/wacv.2011.5711569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv.2011.5711569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE Workshop on Applications of Computer Vision (WACV)","raw_type":"proceedings-article"},"type":"preprint","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/A5020558439","display_name":"V\u00edctor Casta\u00f1eda","orcid":"https://orcid.org/0000-0003-0554-0324"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Victor Castaneda","raw_affiliation_strings":["Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042645593","display_name":"Diana Mateus","orcid":"https://orcid.org/0000-0002-2252-8717"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Diana Mateus","raw_affiliation_strings":["Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures (CAMP), Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020558439"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":129.1417,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99873002,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"672","last_page":"678"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8370162844657898},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.806980550289154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7102229595184326},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6206876039505005},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5525158643722534},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5491008758544922},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4894007742404938},{"id":"https://openalex.org/keywords/image-resolution","display_name":"Image resolution","score":0.4825853109359741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14206048846244812},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11882239580154419}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8370162844657898},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.806980550289154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7102229595184326},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6206876039505005},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5525158643722534},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5491008758544922},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4894007742404938},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.4825853109359741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14206048846244812},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11882239580154419},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/wacv.2011.5711569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wacv.2011.5711569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE Workshop on Applications of Computer Vision (WACV)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.2028","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.2028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:HAL:hal-01690320v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-01690320","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE Workshop on Applications of Computer Vision (WACV), Jan 2011, Kona, United States. ⟨10.1109/WACV.2011.5711569⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"},{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"},{"id":"https://openalex.org/F4320327331","display_name":"National Commission for Science and Technology","ror":"https://ror.org/04gm1wq32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W51201421","https://openalex.org/W107596469","https://openalex.org/W1187244281","https://openalex.org/W1507393870","https://openalex.org/W1991793962","https://openalex.org/W2041362444","https://openalex.org/W2043488348","https://openalex.org/W2044233231","https://openalex.org/W2071158641","https://openalex.org/W2072647900","https://openalex.org/W2097457395","https://openalex.org/W2112262632","https://openalex.org/W2113243634","https://openalex.org/W2127578024","https://openalex.org/W2145938889","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2154659010","https://openalex.org/W2164785268","https://openalex.org/W2396712510","https://openalex.org/W3022404379","https://openalex.org/W4247021973","https://openalex.org/W6627862999","https://openalex.org/W6660814036","https://openalex.org/W6674824159","https://openalex.org/W6681158678","https://openalex.org/W6682324061","https://openalex.org/W6711780769"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W4288626232","https://openalex.org/W2385118824","https://openalex.org/W2542348219","https://openalex.org/W2358868262"],"abstract_inverted_index":{"This":[0,46],"paper":[1],"describes":[2],"an":[3],"extension":[4],"to":[5,72,86,94,148,170],"the":[6,17,36,43,52,55,59,74,77,80,88,99,104,107,132,156,163,171],"Monocular":[7],"Simultaneous":[8],"Localization":[9],"and":[10,58,79,119,127,130,135,178],"Mapping":[11],"(MonoSLAM)":[12],"method":[13,142,161],"that":[14,155,180],"relies":[15],"on":[16,51],"images":[18,176,182],"provided":[19],"by":[20],"a":[21,67,114,120,125,150],"combined":[22,89],"high":[23,90],"resolution":[24,91],"Time":[25],"of":[26,38,54,69,76,106,117,138,165],"Flight":[27],"(HR-ToF)":[28],"sensor.":[29],"In":[30,110],"its":[31],"standard":[32],"formulation":[33],"MonoSLAM":[34,65,100,172],"estimates":[35],"depth":[37,47,96,157],"each":[39],"tracked":[40],"feature":[41,56,108],"as":[42],"camera":[44,61,123,166],"moves.":[45],"estimation":[48],"depends":[49],"both":[50],"quality":[53],"tracking":[57],"previous":[60],"position":[62],"estimates.":[63],"Additionally,":[64],"requires":[66],"set":[68],"known":[70,146],"features":[71,147],"initialize":[73,149],"scale":[75],"map":[78],"world":[81],"coordinate":[82],"system.":[83],"We":[84],"propose":[85],"use":[87,113],"ToF":[92,115],"sensor":[93],"incorporate":[95],"measures":[97],"into":[98],"framework":[101],"while":[102],"keeping":[103],"accuracy":[105],"detection.":[109],"practice,":[111],"we":[112],"(Time":[116],"Flight)":[118],"high-resolution":[121],"(HR)":[122],"in":[124,159],"calibrated":[126],"synchronized":[128],"set-up":[129],"modify":[131],"measurement":[133],"model":[134],"observation":[136],"updates":[137],"MonoSLAM.":[139],"The":[140],"proposed":[141],"does":[143],"not":[144],"require":[145],"map.":[151],"Experiments":[152],"show":[153],"first,":[154],"measurements":[158],"our":[160],"improve":[162],"results":[164],"localization":[167],"when":[168],"compared":[169],"approach":[173],"using":[174],"HR":[175,181],"alone;":[177],"second,":[179],"are":[183],"required":[184],"for":[185],"reliable":[186],"tracking.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":7}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}