{"id":"https://openalex.org/W2079838428","doi":"https://doi.org/10.1117/12.2004995","title":"Visual homing with a pan-tilt based stereo camera","display_name":"Visual homing with a pan-tilt based stereo camera","publication_year":2013,"publication_date":"2013-02-04","ids":{"openalex":"https://openalex.org/W2079838428","doi":"https://doi.org/10.1117/12.2004995","mag":"2079838428"},"language":"en","primary_location":{"id":"doi:10.1117/12.2004995","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2004995","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","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/A5111507853","display_name":"Paramesh Nirmal","orcid":null},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paramesh Nirmal","raw_affiliation_strings":["Fordham University, United States"],"affiliations":[{"raw_affiliation_string":"Fordham University, United States","institution_ids":["https://openalex.org/I164389053"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037546204","display_name":"Damian M. Lyons","orcid":"https://orcid.org/0000-0003-1460-9741"},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Damian M. Lyons","raw_affiliation_strings":["Fordham University, United States"],"affiliations":[{"raw_affiliation_string":"Fordham University, United States","institution_ids":["https://openalex.org/I164389053"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111507853"],"corresponding_institution_ids":["https://openalex.org/I164389053"],"apc_list":null,"apc_paid":null,"fwci":6.9946,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97566092,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"8662","issue":null,"first_page":"866204","last_page":"866204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987999796867371,"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":0.8141112327575684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8120863437652588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6833518147468567},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5781395435333252},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5084261298179626},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.47749871015548706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4328835606575012},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.42140302062034607},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3392104506492615}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8141112327575684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8120863437652588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6833518147468567},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5781395435333252},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5084261298179626},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.47749871015548706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4328835606575012},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.42140302062034607},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3392104506492615}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1117/12.2004995","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2004995","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:fordham.bepress.com:frcv_facultypubs-1014","is_oa":false,"landing_page_url":"https://fordham.bepress.com/frcv_facultypubs/15","pdf_url":null,"source":{"id":"https://openalex.org/S4377196473","display_name":"Fordham Research Commons (Fordham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I164389053","host_organization_name":"Fordham University","host_organization_lineage":["https://openalex.org/I164389053"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6541015203","display_name":null,"funder_award_id":"HDTRA1","funder_id":"https://openalex.org/F4320332186","funder_display_name":"Defense Threat Reduction Agency"},{"id":"https://openalex.org/G8592578562","display_name":null,"funder_award_id":"HDTRA1-11-1-0038","funder_id":"https://openalex.org/F4320332186","funder_display_name":"Defense Threat Reduction Agency"}],"funders":[{"id":"https://openalex.org/F4320311590","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80"},{"id":"https://openalex.org/F4320332186","display_name":"Defense Threat Reduction Agency","ror":"https://ror.org/04tz64554"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W147677848","https://openalex.org/W1562619934","https://openalex.org/W1600486961","https://openalex.org/W1974746540","https://openalex.org/W1984399132","https://openalex.org/W1986210471","https://openalex.org/W1991768699","https://openalex.org/W1996138124","https://openalex.org/W1996292121","https://openalex.org/W2077321821","https://openalex.org/W2130404621","https://openalex.org/W2138491947","https://openalex.org/W2145232418","https://openalex.org/W2151103935","https://openalex.org/W2167264631","https://openalex.org/W2170930052","https://openalex.org/W2174370623","https://openalex.org/W2308496267","https://openalex.org/W3147140600","https://openalex.org/W3148166280"],"related_works":["https://openalex.org/W2049930962","https://openalex.org/W2117488557","https://openalex.org/W812480148","https://openalex.org/W2884518031","https://openalex.org/W2091611596","https://openalex.org/W2015421583","https://openalex.org/W2034432135","https://openalex.org/W307265996","https://openalex.org/W1484049743","https://openalex.org/W3004363006"],"abstract_inverted_index":{"Visual":[0,51],"homing":[1,43,52,111,175],"is":[2,32,145,156,186],"a":[3,9,109,148,157,166,180,216,245,251,257,269],"navigation":[4],"method":[5,112,167,241],"based":[6,182],"on":[7],"comparing":[8],"stored":[10],"image":[11,19],"of":[12,99,151,247,265,271],"the":[13,17,28,76,92,97,100,135,138,142,154,195,203,208,227,232,235,263],"goal":[14,29,77,139,236],"location":[15],"and":[16,39,65,73,104,137,229],"current":[18],"(current":[20],"view)":[21],"to":[22,25,27,45,47,56,75,96,131,188,206,214,234],"determine":[23,132],"how":[24],"navigate":[26],"location.":[30,78,140,237],"It":[31],"theorized":[33],"that":[34,168],"insects,":[35],"such":[36],"as":[37],"ants":[38],"bees,":[40],"employ":[41],"visual":[42,110],"methods":[44,68,267],"return":[46],"their":[48],"nest":[49],"[1].":[50],"has":[53],"been":[54],"applied":[55],"autonomous":[57],"robot":[58,136,233,254],"platforms":[59],"using":[60,81,113,250,268],"two":[61],"main":[62],"approaches:":[63],"holistic":[64],"feature-based.":[66],"Both":[67],"aim":[69],"at":[70],"determining":[71],"distance":[72,133,228],"direction":[74],"Navigational":[79],"algorithms":[80],"Scale":[82,119],"Invariant":[83],"Feature":[84],"Transforms":[85],"(SIFT)":[86],"have":[87,107,164],"gained":[88],"great":[89],"popularity":[90],"in":[91,118,173,212,244,275],"recent":[93],"years":[94],"due":[95],"robustness":[98],"feature":[101,127],"operator.":[102],"Churchill":[103],"Vardy":[105],"[2]":[106],"developed":[108,165],"scale":[114,128,143],"change":[115,129],"information":[116,130],"(Homing":[117],"Space,":[120],"HiSS)":[121],"from":[122,202,231],"SIFT.":[123],"HiSS":[124,243],"uses":[125,169],"SIFT":[126],"between":[134],"Since":[141],"component":[144],"discrete":[146],"with":[147,160,199,242,256],"small":[149],"range":[150],"values":[152],"[3],":[153],"result":[155],"rough":[158],"measurement":[159],"limited":[161],"accuracy.":[162],"We":[163,193,238,261],"stereo":[170,183,204,259],"data,":[171],"resulting":[172],"better":[174],"performance.":[176],"Our":[177],"approach":[178],"utilizes":[179],"pantilt":[181],"camera,":[184],"which":[185],"used":[187],"build":[189],"composite":[190],"wide-field":[191,196],"images.":[192],"use":[194],"images":[197],"combined":[198],"stereo-data":[200],"obtained":[201],"camera":[205],"extend":[207],"keypoint":[209],"vector":[210],"described":[211,274],"[3]":[213],"include":[215],"new":[217],"parameter,":[218],"depth":[219],"(z).":[220],"Using":[221],"this":[222,276],"info,":[223],"our":[224,240],"algorithm":[225],"determines":[226],"orientation":[230],"compare":[239],"set":[246,270],"indoor":[248],"trials":[249],"Pioneer":[252],"3-AT":[253],"equipped":[255],"BumbleBee2":[258],"camera.":[260],"evaluate":[262],"performance":[264,272],"both":[266],"measures":[273],"paper.":[277]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
