{"id":"https://openalex.org/W2768000450","doi":"https://doi.org/10.1109/ecmr.2017.8098655","title":"Constrained-covisibility marginalization for efficient on-board stereo SLAM","display_name":"Constrained-covisibility marginalization for efficient on-board stereo SLAM","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2768000450","doi":"https://doi.org/10.1109/ecmr.2017.8098655","mag":"2768000450"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098655","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","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/A5044092349","display_name":"Mat\u00edas Nitsche","orcid":"https://orcid.org/0000-0002-9185-0531"},"institutions":[{"id":"https://openalex.org/I4210144290","display_name":"Institute of Astronomy and Space Physics","ror":"https://ror.org/03rq94151","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I24354313","https://openalex.org/I4210123736","https://openalex.org/I4210144290","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Matias A. Nitsche","raw_affiliation_strings":["ICC, Computer Science Research Institute (CONICET-UBA), Argentina"],"affiliations":[{"raw_affiliation_string":"ICC, Computer Science Research Institute (CONICET-UBA), Argentina","institution_ids":["https://openalex.org/I4210144290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026112620","display_name":"Gast\u00f3n Castro","orcid":"https://orcid.org/0000-0002-2073-8913"},"institutions":[{"id":"https://openalex.org/I4210144290","display_name":"Institute of Astronomy and Space Physics","ror":"https://ror.org/03rq94151","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I24354313","https://openalex.org/I4210123736","https://openalex.org/I4210144290","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Gaston I. Castro","raw_affiliation_strings":["ICC, Computer Science Research Institute (CONICET-UBA), Argentina"],"affiliations":[{"raw_affiliation_string":"ICC, Computer Science Research Institute (CONICET-UBA), Argentina","institution_ids":["https://openalex.org/I4210144290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042249956","display_name":"Taih\u00fa Pire","orcid":"https://orcid.org/0000-0001-5621-6474"},"institutions":[{"id":"https://openalex.org/I4210144290","display_name":"Institute of Astronomy and Space Physics","ror":"https://ror.org/03rq94151","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I24354313","https://openalex.org/I4210123736","https://openalex.org/I4210144290","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Taihu Pire","raw_affiliation_strings":["ICC, Computer Science Research Institute (CONICET-UBA), Argentina"],"affiliations":[{"raw_affiliation_string":"ICC, Computer Science Research Institute (CONICET-UBA), Argentina","institution_ids":["https://openalex.org/I4210144290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101801413","display_name":"Thomas Fischer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144290","display_name":"Institute of Astronomy and Space Physics","ror":"https://ror.org/03rq94151","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I24354313","https://openalex.org/I4210123736","https://openalex.org/I4210144290","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Thomas Fischer","raw_affiliation_strings":["ICC, Computer Science Research Institute (CONICET-UBA), Argentina"],"affiliations":[{"raw_affiliation_string":"ICC, Computer Science Research Institute (CONICET-UBA), Argentina","institution_ids":["https://openalex.org/I4210144290"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062483093","display_name":"Pablo De Crist\u00f3foris","orcid":"https://orcid.org/0000-0002-7551-7720"},"institutions":[{"id":"https://openalex.org/I4210144290","display_name":"Institute of Astronomy and Space Physics","ror":"https://ror.org/03rq94151","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I24354313","https://openalex.org/I4210123736","https://openalex.org/I4210144290","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Pablo De Cristoforis","raw_affiliation_strings":["ICC, Computer Science Research Institute (CONICET-UBA), Argentina"],"affiliations":[{"raw_affiliation_string":"ICC, Computer Science Research Institute (CONICET-UBA), Argentina","institution_ids":["https://openalex.org/I4210144290"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044092349"],"corresponding_institution_ids":["https://openalex.org/I4210144290"],"apc_list":null,"apc_paid":null,"fwci":2.7213,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91041166,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"abs 1610 6475","issue":null,"first_page":"1","last_page":"6"},"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":0.9997000098228455,"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":0.9987000226974487,"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-science","display_name":"Computer science","score":0.7558885812759399},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7345589995384216},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7107851505279541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.644481897354126},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6137962341308594},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5962090492248535},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5549062490463257},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5518284440040588},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5183266401290894},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5059861540794373},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4289036989212036},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2682588994503021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2607074975967407}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7558885812759399},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7345589995384216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7107851505279541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.644481897354126},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6137962341308594},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5962090492248535},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5549062490463257},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5518284440040588},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5183266401290894},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5059861540794373},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4289036989212036},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2682588994503021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2607074975967407},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2017.8098655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098655","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1532362218","https://openalex.org/W2019458444","https://openalex.org/W2024676408","https://openalex.org/W2042850147","https://openalex.org/W2049750053","https://openalex.org/W2084849910","https://openalex.org/W2091790851","https://openalex.org/W2102780469","https://openalex.org/W2127752689","https://openalex.org/W2151290401","https://openalex.org/W2154280780","https://openalex.org/W2214613866","https://openalex.org/W2278591674","https://openalex.org/W2535547924","https://openalex.org/W2606894526","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W3006563365","https://openalex.org/W4386394365","https://openalex.org/W2954249689","https://openalex.org/W2626414811","https://openalex.org/W2001736731","https://openalex.org/W4302306787","https://openalex.org/W2913604885","https://openalex.org/W4313484789","https://openalex.org/W3045795527","https://openalex.org/W4300939778"],"abstract_inverted_index":{"When":[0],"targeting":[1],"embedded":[2,155],"applications":[3],"such":[4],"as":[5],"on-board":[6,153],"visual":[7,44,147],"localization":[8],"for":[9],"small":[10],"Unmanned":[11],"Air":[12],"Vehicles":[13],"(UAV),":[14],"available":[15],"hardware":[16],"generally":[17],"becomes":[18],"a":[19,106,145],"limiting":[20,86],"factor.":[21],"For":[22],"this":[23,61,71,117],"reason,":[24],"the":[25,37,40,54,65,76,79,87,90,96,121,141],"usual":[26],"strategy":[27],"is":[28,50,100],"to":[29,53,113,158],"rely":[30],"on":[31],"pure":[32],"motion":[33],"integration":[34],"and/or":[35],"restricting":[36],"size":[38,88],"of":[39,58,67,78,89,98,111,123,144],"map,":[41],"i.e.":[42],"performing":[43],"odometry.":[45],"Moreover,":[46,116],"if":[47],"monocular":[48],"vision":[49],"employed,":[51],"due":[52],"additional":[55],"computational":[56,142],"cost":[57,77],"stereo":[59,146],"vision,":[60],"requires":[62],"dealing":[63],"with":[64,162],"problem":[66],"unknown":[68],"scale.":[69],"In":[70],"work":[72,118],"we":[73,135],"discuss":[74],"how":[75,137],"tracking":[80,125],"task":[81],"can":[82],"be":[83,114],"reduced":[84],"without":[85],"global":[91],"map.":[92],"To":[93],"do":[94],"so,":[95],"notion":[97],"covisibility":[99],"strongly":[101],"used":[102],"which":[103],"allows":[104],"choosing":[105],"fixed":[107],"and":[108,126,128,161],"optimal":[109],"set":[110],"points":[112],"tracked.":[115],"delves":[119],"into":[120],"concept":[122],"parallel":[124],"mapping":[127],"presents":[129],"some":[130],"finer":[131],"parallelization":[132],"opportunities.":[133],"Finally,":[134],"show":[136],"these":[138],"strategies":[139],"improve":[140],"times":[143],"SLAM":[148],"framework":[149],"called":[150],"S-PTAM":[151],"running":[152],"an":[154],"computer,":[156],"close":[157],"camera":[159],"frame-rates":[160],"negligible":[163],"precision":[164],"loss.":[165]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}