{"id":"https://openalex.org/W2999755436","doi":"https://doi.org/10.1109/arso46408.2019.8948767","title":"Mismatch Removal of Visual Odometry using KLT danger-points tracking and suppression","display_name":"Mismatch Removal of Visual Odometry using KLT danger-points tracking and suppression","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999755436","doi":"https://doi.org/10.1109/arso46408.2019.8948767","mag":"2999755436"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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/A5060047096","display_name":"Fuyu Nie","orcid":"https://orcid.org/0000-0002-1114-5622"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fuyu Nie","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101920117","display_name":"Fangxing Li","orcid":"https://orcid.org/0000-0003-1928-363X"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangxing Li","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018547666","display_name":"Yongliang Shi","orcid":"https://orcid.org/0000-0001-8206-3176"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongliang Shi","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068527967","display_name":"Ziyuan Guo","orcid":"https://orcid.org/0000-0002-1189-9440"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyuan Guo","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322977","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0003-4383-741X"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems","institution_ids":["https://openalex.org/I4210165198"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5060047096"],"corresponding_institution_ids":["https://openalex.org/I4210165198"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10197154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":null,"first_page":"330","last_page":"334"},"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":0.9991000294685364,"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":0.9988999962806702,"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/ransac","display_name":"RANSAC","score":0.9433919191360474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7798015475273132},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7748256921768188},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7101448774337769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6670116782188416},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5437355041503906},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5151532888412476},{"id":"https://openalex.org/keywords/hamming-distance","display_name":"Hamming distance","score":0.48483502864837646},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.458352267742157},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4451754689216614},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.42928779125213623},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.42605945467948914},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.42281532287597656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24001795053482056},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19327136874198914},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13948538899421692},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1304972767829895}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9433919191360474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7798015475273132},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7748256921768188},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7101448774337769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6670116782188416},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5437355041503906},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5151532888412476},{"id":"https://openalex.org/C193319292","wikidata":"https://www.wikidata.org/wiki/Q272172","display_name":"Hamming distance","level":2,"score":0.48483502864837646},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.458352267742157},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4451754689216614},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.42928779125213623},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.42605945467948914},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.42281532287597656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24001795053482056},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19327136874198914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13948538899421692},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1304972767829895},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/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/arso46408.2019.8948767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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":15,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1968005657","https://openalex.org/W2049099859","https://openalex.org/W2092283480","https://openalex.org/W2105841479","https://openalex.org/W2118877769","https://openalex.org/W2135354474","https://openalex.org/W2149003305","https://openalex.org/W2294278833","https://openalex.org/W2330846928","https://openalex.org/W2534297224","https://openalex.org/W2586366378","https://openalex.org/W2944710803","https://openalex.org/W3103648783","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W2106749552","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2093185295","https://openalex.org/W2412578866"],"abstract_inverted_index":{"Visual":[0],"odometry":[1,79],"(VO)":[2],"is":[3,116],"a":[4,60,82,91,130,177],"technique":[5],"to":[6,11,29,63,73,99,105,118,150,188,198],"transform":[7],"front-end":[8],"visual":[9,22,78],"observation":[10],"pose":[12],"transformation.":[13],"In":[14,66],"simultaneous":[15],"localization":[16],"and":[17,32,80,175,192],"mapping":[18],"(SLAM)":[19],"based":[20],"on":[21,170],"odometry,":[23],"mismatch":[24,56,76,106,157,196],"of":[25,58,93,122,132,179],"features":[26],"can":[27,41,158],"lead":[28],"high":[30],"uncertainty":[31],"inaccurate":[33],"state":[34],"estimation.":[35],"Although":[36],"RANSAC":[37],"(RANdom":[38],"SAmple":[39],"Consensus)":[40],"reject":[42,74],"the":[43,55,75,101,120,151,154,168,189,195],"outlier":[44],"with":[45,90,161],"iterative":[46],"sampling":[47],"among":[48],"all":[49],"feature":[50],"points,":[51],"it":[52],"only":[53],"eliminate":[54],"instead":[57],"finding":[59],"better":[61,83],"match":[62,84],"replace":[64],"it.":[65],"this":[67,139],"paper,":[68],"we":[69,128,184],"introduce":[70],"an":[71,143],"algorithm":[72,169,187],"in":[77,97,124,138,147,153],"find":[81],"if":[85],"possible.":[86],"Our":[87],"approach":[88],"start":[89],"self-match":[92],"latest":[94],"camera":[95],"frame":[96],"order":[98],"detect":[100],"danger-point":[102,123],"probably":[103],"leading":[104],"for":[107],"every":[108],"feature.":[109],"KLT":[110],"(Kanade-Lucas-Tomasi)":[111],"optical":[112],"flow":[113],"tracking":[114],"method":[115],"used":[117],"predict":[119],"motion":[121],"next":[125],"frame,":[126],"where":[127],"form":[129],"danger-area":[131],"mismatch.":[133],"We":[134,166],"additionally":[135],"apply":[136,185],"suppression":[137],"area":[140],"by":[141,201],"adding":[142],"extra":[144,162],"Hamming":[145,163],"distance":[146,164],"Gaussian":[148],"distribution":[149],"points":[152],"area.":[155],"Therefore,":[156],"be":[159,199],"removed":[160],"added.":[165],"integrate":[167],"ROS":[171],"(Robot":[172],"Operating":[173],"System)":[174],"record":[176],"series":[178],"video":[180,190],"data":[181],"sets.":[182],"Then":[183],"our":[186],"stream":[191],"successfully":[193],"remove":[194],"difficult":[197],"rejected":[200],"RANSAC.":[202]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
