{"id":"https://openalex.org/W2789602789","doi":"https://doi.org/10.1145/3175603.3175619","title":"An Adaptive Strategy For Monocular Visual Odometry","display_name":"An Adaptive Strategy For Monocular Visual Odometry","publication_year":2017,"publication_date":"2017-12-29","ids":{"openalex":"https://openalex.org/W2789602789","doi":"https://doi.org/10.1145/3175603.3175619","mag":"2789602789"},"language":"en","primary_location":{"id":"doi:10.1145/3175603.3175619","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3175603.3175619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2017 International Conference on Robotics and Artificial Intelligence","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/A5002119625","display_name":"Shengguang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shengguang Xie","raw_affiliation_strings":["School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008027442","display_name":"Mengxiang Lin","orcid":"https://orcid.org/0000-0003-2908-4597"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengxiang Lin","raw_affiliation_strings":["School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Meng Hang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Hang","raw_affiliation_strings":["School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineeringand and Automation, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088951316","display_name":"Rong Ding","orcid":"https://orcid.org/0000-0002-5187-8193"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Ding","raw_affiliation_strings":["School of Computer Science and Technology, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002119625"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39099123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"46","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9980999827384949,"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/visual-odometry","display_name":"Visual odometry","score":0.9476196765899658},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.8791859149932861},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8318983316421509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7770252227783203},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7476922273635864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7056844234466553},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6506524085998535},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6446346044540405},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4267459213733673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40366649627685547},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1839747130870819}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.9476196765899658},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8791859149932861},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8318983316421509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7770252227783203},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7476922273635864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7056844234466553},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6506524085998535},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6446346044540405},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4267459213733673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40366649627685547},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1839747130870819},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3175603.3175619","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3175603.3175619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2017 International Conference on Robotics and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W163903653","https://openalex.org/W208888162","https://openalex.org/W1528921660","https://openalex.org/W2015996585","https://openalex.org/W2115579991","https://openalex.org/W2166132830","https://openalex.org/W2283109172","https://openalex.org/W2315625130","https://openalex.org/W2517904943","https://openalex.org/W2559650674","https://openalex.org/W2569942262","https://openalex.org/W2943743756"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Monocular":[0],"Visual":[1],"odometry":[2,25],"is":[3,76,88,96],"an":[4,71],"important":[5],"technique":[6],"in":[7,49,67],"mobile":[8],"robot":[9],"localization":[10],"and":[11,29,41,54,90,117],"navigation.":[12],"This":[13],"paper":[14],"first":[15],"empirically":[16],"studies":[17],"two":[18],"kinds":[19],"of":[20,51,81],"commonly":[21],"used":[22],"monocular":[23],"visual":[24,73],"(MVO):":[26],"descriptor-based":[27],"methods":[28],"optical":[30],"flow":[31],"based":[32],"methods.":[33],"Six":[34],"representative":[35],"scenes":[36],"are":[37,47],"extracted":[38],"from":[39],"KITTI":[40],"Karlsruhe":[42],"datasets.":[43],"Ten":[44],"MVO":[45,62,94],"algorithms":[46,63],"evaluated":[48],"terms":[50],"real-time":[52,119],"performance":[53,66],"trajectory":[55,115],"accuracy.":[56],"Experimental":[57],"results":[58,106],"show":[59,64,107],"that":[60,108],"different":[61,65,68],"scenarios.":[69],"Furthermore,":[70],"adaptive":[72],"odometry(AVO)":[74],"strategy":[75],"proposed":[77],"on":[78],"the":[79,82,91,109],"basis":[80],"experiment":[83],"results.":[84],"The":[85,104],"changing":[86],"environment":[87],"detected":[89],"most":[92],"suitable":[93],"algorithm":[95],"chosen":[97],"dynamically":[98],"according":[99],"to":[100],"a":[101],"cost":[102],"function.":[103],"experimental":[105],"AVO":[110],"method":[111],"can":[112],"obtain":[113],"higher":[114],"accuracy":[116],"better":[118],"performance.":[120]},"counts_by_year":[],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}