{"id":"https://openalex.org/W2139455974","doi":"https://doi.org/10.1109/icra.2011.5980232","title":"Improved frame-to-frame pose tracking during vision-only SLAM/SFM with a tumbling target","display_name":"Improved frame-to-frame pose tracking during vision-only SLAM/SFM with a tumbling target","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2139455974","doi":"https://doi.org/10.1109/icra.2011.5980232","mag":"2139455974"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5054516921","display_name":"Sean Augenstein","orcid":null},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Augenstein","raw_affiliation_strings":["Department of Aeronautics & Astronautics, University of Stanford, Stanford, CA, USA","Department of Aeronautics and Astronautics, Stanford University, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics & Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, CA USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026482686","display_name":"Stephen M. Rock","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]},{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen M. Rock","raw_affiliation_strings":["Department of Aeronautics & Astronautics, University of Stanford, Stanford, CA, USA","Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA","Department of Aeronautics and Astronautics, Stanford University, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics & Astronautics, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885"]},{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, CA USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":56.5726,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99552735,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3131","last_page":"3138"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9980000257492065,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.802254319190979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7839803695678711},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6823724508285522},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6553271412849426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6465811729431152},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6005988121032715},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.589491605758667},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5652008056640625},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5645697712898254},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4765753746032715},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47541123628616333},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.4595794081687927},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.45470908284187317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3882449269294739},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.2823084592819214},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22346973419189453}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.802254319190979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7839803695678711},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6823724508285522},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6553271412849426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6465811729431152},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6005988121032715},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.589491605758667},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5652008056640625},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5645697712898254},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4765753746032715},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47541123628616333},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.4595794081687927},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.45470908284187317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3882449269294739},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2823084592819214},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22346973419189453},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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":26,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1519614353","https://openalex.org/W1991793962","https://openalex.org/W1997846515","https://openalex.org/W2029318526","https://openalex.org/W2085078372","https://openalex.org/W2085261163","https://openalex.org/W2103393159","https://openalex.org/W2107796986","https://openalex.org/W2121013842","https://openalex.org/W2139834417","https://openalex.org/W2144573889","https://openalex.org/W2149020252","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2160749110","https://openalex.org/W2162161345","https://openalex.org/W2171778162","https://openalex.org/W2296147781","https://openalex.org/W2332079608","https://openalex.org/W2966436128","https://openalex.org/W2973878447","https://openalex.org/W4205731800","https://openalex.org/W4243425824","https://openalex.org/W6675456536"],"related_works":["https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W4386075737","https://openalex.org/W2951583186","https://openalex.org/W4299867837","https://openalex.org/W2088028039","https://openalex.org/W4382141741","https://openalex.org/W3165753266","https://openalex.org/W1968783203","https://openalex.org/W4206633503"],"abstract_inverted_index":{"A":[0,100],"hybrid":[1,91,131,134],"algorithm":[2,15,97],"for":[3,73,89],"real-time":[4,35],"frame-to-frame":[5],"pose":[6,23,43,137],"estimation":[7,26,138],"during":[8],"monocular":[9,69],"vision-only":[10],"SLAM/SFM":[11],"is":[12,53,63,71,93,98,109,141,151],"presented.":[13,99],"The":[14,87,133],"combines":[16],"concepts":[17],"from":[18,114],"two":[19],"existing":[20],"approaches":[21],"to":[22,32,83,136],"tracking,":[24],"Bayesian":[25],"methods":[27],"and":[28,48,65,95,111,118,127],"measurement":[29],"inversion":[30],"techniques,":[31],"achieve":[33],"in":[34],"a":[36,45,49,57,68,90,104],"feasible,":[37],"smooth":[38],"estimate":[39],"of":[40,78,129,144],"the":[41,61,75,79,84,125,130,145,149],"relative":[42,76],"between":[44],"robotic":[46,85],"platform":[47],"tumbling":[50],"target.":[51],"It":[52],"assumed":[54],"that":[55,66],"no":[56],"priori":[58],"information":[59],"about":[60],"target":[62,80],"available,":[64],"only":[67],"camera":[70],"available":[72],"measuring":[74],"motion":[77],"with":[81],"respect":[82],"platform.":[86],"rationale":[88],"approach":[92,135],"explained,":[94],"an":[96],"specific":[101],"implementation":[102],"using":[103],"modified":[105],"Rao-Blackwellised":[106],"particle":[107],"filter":[108],"described":[110,139],"tested.":[112],"Results":[113],"both":[115],"numerical":[116],"simulations":[117],"field":[119],"experiments":[120],"are":[121],"included":[122],"which":[123,148],"demonstrate":[124],"performance":[126],"viability":[128],"approach.":[132],"here":[140],"applicable":[142],"regardless":[143],"method":[146],"by":[147],"map/reconstruction":[150],"estimated.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
