{"id":"https://openalex.org/W2113500802","doi":"https://doi.org/10.1177/0278364914561101","title":"Real-time monocular image-based 6-DoF localization","display_name":"Real-time monocular image-based 6-DoF localization","publication_year":2015,"publication_date":"2015-03-25","ids":{"openalex":"https://openalex.org/W2113500802","doi":"https://doi.org/10.1177/0278364914561101","mag":"2113500802"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914561101","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914561101","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5100807554","display_name":"Hyon Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyon Lim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090341044","display_name":"Sudipta N. Sinha","orcid":"https://orcid.org/0000-0002-4186-3289"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sudipta N. Sinha","raw_affiliation_strings":["Microsoft Research, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022086115","display_name":"Michael F. Cohen","orcid":"https://orcid.org/0000-0001-5158-1325"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael F. Cohen","raw_affiliation_strings":["Microsoft Research, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010182611","display_name":"Matt Uyttendaele","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Uyttendaele","raw_affiliation_strings":["Microsoft Research, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":107.7163,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.99820193,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"34","issue":"4-5","first_page":"476","last_page":"492"},"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/T10531","display_name":"Advanced Vision and Imaging","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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7581040859222412},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7299781441688538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7134255170822144},{"id":"https://openalex.org/keywords/laptop","display_name":"Laptop","score":0.5149531960487366},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49575552344322205},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.486642450094223},{"id":"https://openalex.org/keywords/interleaving","display_name":"Interleaving","score":0.46436071395874023},{"id":"https://openalex.org/keywords/key-frame","display_name":"Key frame","score":0.45338547229766846},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.44829535484313965},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.4386337399482727},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3630225956439972},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.3576948344707489},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3191646933555603},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17785656452178955}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7581040859222412},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7299781441688538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7134255170822144},{"id":"https://openalex.org/C2780008327","wikidata":"https://www.wikidata.org/wiki/Q3962","display_name":"Laptop","level":2,"score":0.5149531960487366},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49575552344322205},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.486642450094223},{"id":"https://openalex.org/C28034677","wikidata":"https://www.wikidata.org/wiki/Q17092530","display_name":"Interleaving","level":2,"score":0.46436071395874023},{"id":"https://openalex.org/C2780139006","wikidata":"https://www.wikidata.org/wiki/Q1493902","display_name":"Key frame","level":3,"score":0.45338547229766846},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44829535484313965},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.4386337399482727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3630225956439972},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3576948344707489},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3191646933555603},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17785656452178955},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914561101","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914561101","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8500000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1491719799","https://openalex.org/W1565312575","https://openalex.org/W1616969904","https://openalex.org/W1966301784","https://openalex.org/W1968700449","https://openalex.org/W1971616954","https://openalex.org/W1972671602","https://openalex.org/W1977976974","https://openalex.org/W1985073556","https://openalex.org/W1992047056","https://openalex.org/W1992191556","https://openalex.org/W1993267444","https://openalex.org/W2006501475","https://openalex.org/W2007079389","https://openalex.org/W2008706659","https://openalex.org/W2030987944","https://openalex.org/W2053917166","https://openalex.org/W2061419089","https://openalex.org/W2071866949","https://openalex.org/W2073660060","https://openalex.org/W2085261163","https://openalex.org/W2097696373","https://openalex.org/W2098205880","https://openalex.org/W2099361355","https://openalex.org/W2100656575","https://openalex.org/W2105934661","https://openalex.org/W2108598000","https://openalex.org/W2112404351","https://openalex.org/W2116191958","https://openalex.org/W2123537152","https://openalex.org/W2125795712","https://openalex.org/W2128017662","https://openalex.org/W2129000642","https://openalex.org/W2129201358","https://openalex.org/W2132453268","https://openalex.org/W2133538244","https://openalex.org/W2134446283","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2151638304","https://openalex.org/W2152671441","https://openalex.org/W2159786429","https://openalex.org/W2160671527","https://openalex.org/W2166644671","https://openalex.org/W2166742463","https://openalex.org/W2168628149","https://openalex.org/W2169561155","https://openalex.org/W2509493982","https://openalex.org/W2532968253","https://openalex.org/W2956131382","https://openalex.org/W3040777582","https://openalex.org/W3177525997","https://openalex.org/W4233112278"],"related_works":["https://openalex.org/W1655266410","https://openalex.org/W2045444909","https://openalex.org/W3153292769","https://openalex.org/W3034955165","https://openalex.org/W2389051085","https://openalex.org/W1901012776","https://openalex.org/W1516398359","https://openalex.org/W2094920358","https://openalex.org/W2041448692","https://openalex.org/W1901656956"],"abstract_inverted_index":{"In":[0],"this":[1,126],"paper":[2],"we":[3,89],"present":[4,191],"a":[5,56,67,129,159,166,174,179],"new":[6,68],"real-time":[7,142],"image-based":[8],"localization":[9],"method":[10,26,112,186],"for":[11,70,81,170],"scenes":[12],"that":[13,60],"have":[14,183],"been":[15],"reconstructed":[16,44],"offline":[17,88],"using":[18,187],"structure":[19,46],"from":[20,47],"motion.":[21,48],"From":[22],"input":[23],"video,":[24],"our":[25,111,185],"continuously":[27],"computes":[28],"six-degree-of-freedom":[29],"camera":[30],"pose":[31],"estimates":[32],"by":[33,45],"efficiently":[34,54],"tracking":[35],"natural":[36],"features":[37],"and":[38,118,123,143,161,190,197],"matching":[39,76,119],"them":[40],"to":[41,107,139],"3D":[42,99],"points":[43],"Our":[49,74,151],"main":[50],"contribution":[51],"lies":[52],"in":[53,124,141],"interleaving":[55],"fast":[57],"keypoint":[58],"tracker":[59],"uses":[61],"inexpensive":[62],"binary":[63],"feature":[64],"descriptors":[65,97],"with":[66],"approach":[69],"direct":[71],"2D-to-3D":[72,75],"matching.":[73],"scheme":[77],"avoids":[78],"the":[79,108,137],"need":[80],"online":[82],"extraction":[83,117],"of":[84,110,132],"scale-invariant":[85],"features.":[86],"Instead,":[87],"construct":[90],"an":[91],"indexed":[92],"database":[93],"containing":[94],"multiple":[95,103],"DAISY":[96,115],"per":[98],"point":[100],"extracted":[101],"at":[102,154,162],"scales.":[104],"The":[105],"key":[106],"efficiency":[109],"is":[113],"invoking":[114],"descriptor":[116],"sparingly":[120],"during":[121],"localization,":[122],"distributing":[125],"computation":[127,172],"over":[128,148,155],"temporal":[130],"window":[131],"successive":[133],"frames.":[134],"This":[135],"enables":[136],"system":[138],"run":[140],"achieve":[144],"low":[145],"per-frame":[146],"latency":[147],"long":[149],"durations.":[150],"algorithm":[152],"runs":[153],"30":[156],"Hz":[157,164],"on":[158,165,173,193],"laptop":[160],"12":[163],"low-power":[167],"computer":[168],"suitable":[169],"onboard":[171],"mobile":[175],"robot":[176],"such":[177],"as":[178],"micro-aerial":[180],"vehicle.":[181],"We":[182],"evaluated":[184],"ground":[188],"truth":[189],"results":[192],"several":[194],"challenging":[195],"indoor":[196],"outdoor":[198],"sequences.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}