{"id":"https://openalex.org/W2601903768","doi":"https://doi.org/10.23919/mva.2017.7986765","title":"Incremental structural modeling on sparse visual SLAM","display_name":"Incremental structural modeling on sparse visual SLAM","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2601903768","doi":"https://doi.org/10.23919/mva.2017.7986765","mag":"2601903768"},"language":"en","primary_location":{"id":"doi:10.23919/mva.2017.7986765","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2017.7986765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Fifteenth IAPR International Conference on Machine Vision Applications (MVA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073665024","display_name":"Rafael Roberto","orcid":"https://orcid.org/0000-0002-9549-7376"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafael Roberto","raw_affiliation_strings":["Voxar Labs/CIn/UFPE, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voxar Labs/CIn/UFPE, Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056399333","display_name":"Hideaki Uchiyama","orcid":"https://orcid.org/0000-0002-6119-1184"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideaki Uchiyama","raw_affiliation_strings":["Kyushu University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056015857","display_name":"Jo\u00e3o Paulo Lima","orcid":"https://orcid.org/0000-0002-1834-5221"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joao Paulo Lima","raw_affiliation_strings":["Voxar Labs/CIn/UFPE, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voxar Labs/CIn/UFPE, Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065709581","display_name":"Hajime Nagahara","orcid":"https://orcid.org/0000-0003-1579-8767"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hajime Nagahara","raw_affiliation_strings":["Voxar Labs/CIn/UFPE, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voxar Labs/CIn/UFPE, Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111450732","display_name":"Rin-ichiro Taniguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rin-ichiro Taniguchi","raw_affiliation_strings":["Kyushu University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004401466","display_name":"Ver\u00f4nica Teichrieb","orcid":"https://orcid.org/0000-0003-4685-3634"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Veronica Teichrieb","raw_affiliation_strings":["Voxar Labs/CIn/UFPE, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voxar Labs/CIn/UFPE, Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7794,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.89205758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"31","issue":null,"first_page":"30","last_page":"33"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7945908308029175},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7842199802398682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7257871627807617},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6515891551971436},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5966238975524902},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5910641551017761},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5865904092788696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5051549077033997},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3701956272125244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14767611026763916},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13607051968574524},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09825891256332397},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08943808078765869}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7945908308029175},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7842199802398682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7257871627807617},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6515891551971436},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5966238975524902},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5910641551017761},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5865904092788696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5051549077033997},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3701956272125244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14767611026763916},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13607051968574524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09825891256332397},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08943808078765869},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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:10.23919/mva.2017.7986765","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2017.7986765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Fifteenth IAPR International Conference on Machine Vision Applications (MVA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W149897633","https://openalex.org/W1612997784","https://openalex.org/W1620493727","https://openalex.org/W1978436383","https://openalex.org/W1998933801","https://openalex.org/W2000018820","https://openalex.org/W2019633382","https://openalex.org/W2052976238","https://openalex.org/W2127310338","https://openalex.org/W2180058017","https://openalex.org/W3103648783","https://openalex.org/W4252410105","https://openalex.org/W6650314002"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W2295788148","https://openalex.org/W1578717197","https://openalex.org/W3108295644","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W3126423817"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"incremental":[4],"structural":[5,98],"modeling":[6],"approach":[7],"that":[8,53,77],"improves":[9],"the":[10,34,60,91],"precision":[11,79],"and":[12,21,80,90],"stability":[13,81],"of":[14,37,63],"existing":[15],"batch":[16,45,87],"based":[17,46,88],"methods":[18],"for":[19,96],"sparse":[20],"noisy":[22],"point":[23,38,51],"clouds":[24,39,52],"from":[25,57],"visual":[26],"SLAM.":[27,58],"The":[28,74],"main":[29],"idea":[30],"is":[31,48,67,94],"to":[32,50,70,85],"use":[33],"generating":[35],"process":[36],"on":[40],"SLAM":[41],"effectively.":[42],"First,":[43],"a":[44,86],"method":[47,89,93],"applied":[49],"are":[54,82],"incrementally":[55],"generated":[56],"Then,":[59],"temporal":[61],"history":[62],"reconstructed":[64],"geometric":[65],"primitives":[66],"statistically":[68],"merged":[69],"suppress":[71],"incorrect":[72],"reconstruction.":[73],"evaluation":[75],"shows":[76],"both":[78],"improved":[83],"compared":[84],"proposed":[92],"suitable":[95],"real-time":[97],"modeling.":[99]},"counts_by_year":[{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}