{"id":"https://openalex.org/W2154167683","doi":"https://doi.org/10.23919/acc.2004.1383787","title":"A novel local invariant descriptor adapted to mobile robot vision","display_name":"A novel local invariant descriptor adapted to mobile robot vision","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2154167683","doi":"https://doi.org/10.23919/acc.2004.1383787","mag":"2154167683"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2004.1383787","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","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/A5054379268","display_name":"Guangzhi Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guangzhi Cao","raw_affiliation_strings":["College of Electrical Engineering, University of Zhejiang, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, University of Zhejiang, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001331351","display_name":"Jiaqian Chen","orcid":"https://orcid.org/0009-0006-0021-4481"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiaqian Chen","raw_affiliation_strings":["College of Electrical Engineering, University of Zhejiang, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, University of Zhejiang, Hangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Jingping Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingping Jiang","raw_affiliation_strings":["College of Electrical Engineering, University of Zhejiang, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, University of Zhejiang, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2719,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62418326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2196","last_page":"2201 vol.3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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"}},{"id":"https://openalex.org/T10824","display_name":"Image Retrieval and Classification Techniques","score":0.9972000122070312,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7765196561813354},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.697839617729187},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6630581617355347},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6244120597839355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6104235053062439},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5927200317382812},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.44491803646087646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4387969374656677},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.43808290362358093},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4233739972114563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33142566680908203}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7765196561813354},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.697839617729187},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6630581617355347},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6244120597839355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104235053062439},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5927200317382812},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.44491803646087646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4387969374656677},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.43808290362358093},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4233739972114563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33142566680908203},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2004.1383787","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5,"id":"https://metadata.un.org/sdg/16"},{"display_name":"Reduced inequalities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1553558465","https://openalex.org/W1773272891","https://openalex.org/W1974189088","https://openalex.org/W1984757472","https://openalex.org/W1994297893","https://openalex.org/W1996773532","https://openalex.org/W2011891945","https://openalex.org/W2015206503","https://openalex.org/W2022735534","https://openalex.org/W2098693229","https://openalex.org/W2099046646","https://openalex.org/W2123977795","https://openalex.org/W2154186675","https://openalex.org/W2160835070","https://openalex.org/W2914885528","https://openalex.org/W3121618812"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W4312219546","https://openalex.org/W2377538627","https://openalex.org/W2107220315","https://openalex.org/W1589637664","https://openalex.org/W4281727072"],"abstract_inverted_index":{"In":[0],"the":[1,37,124,132,146,152,155],"past":[2],"years,":[3],"recognition":[4,19,177],"algorithms":[5],"based":[6,73],"on":[7,74],"local":[8,75,83,105,134],"features":[9],"have":[10,31],"received":[11],"much":[12],"attention;":[13],"and":[14,28,92,162,179],"their":[15,47],"advantages":[16],"over":[17],"traditional":[18],"methods":[20,43],"in":[21,44,49,181,198],"dealing":[22],"with":[23,78,87],"similarity":[24,143,188],"transformation,":[25],"partial":[26,185],"occlusion":[27],"extraneous":[29,190],"noise,":[30,191],"been":[32,54],"verified.":[33],"But":[34],"due":[35],"to":[36,63,70,123],"difficulty":[38],"of":[39,98,115,117,154,183],"most":[40],"current":[41],"local-feature-based":[42],"real-time":[45],"implementation,":[46],"application":[48],"mobile":[50,71,207],"robot":[51,208],"vision":[52,66],"has":[53,174],"deferred.":[55],"Motivated":[56],"by":[57,110,157],"it,":[58],"this":[59],"paper":[60],"is":[61,90,101,108],"expected":[62],"provide":[64],"a":[65,94,138,159,175],"system":[67],"especially":[68],"adapted":[69],"robots":[72],"features.":[76],"Compared":[77],"previous":[79],"works,":[80],"A":[81],"novel":[82,104,133],"invariant":[84,135],"descriptor":[85,136],"combined":[86],"gradient":[88,126],"information":[89],"provided;":[91],"accordingly":[93],"new":[95,147],"matching":[96,148,167],"method":[97,149],"interest":[99,128],"points":[100,120],"introduced.":[102],"The":[103],"invariant,":[106],"which":[107,201],"characterized":[109],"Gaussian":[111],"derivatives,":[112],"also":[113],"consists":[114],"descriptions":[116],"some":[118,164],"non-interest":[119],"localized":[121],"according":[122],"average":[125],"at":[127],"points,":[129],"so":[130],"that":[131],"achieves":[137],"high":[139],"discrimination":[140],"under":[141],"various":[142,187],"transformation.":[144],"And":[145,193],"greatly":[150],"increases":[151],"robustness":[153,180],"algorithm":[156,173],"employing":[158],"segmentation":[160],"correlation":[161],"eliminating":[163],"possibly":[165],"wrong":[166],"results.":[168],"Experimental":[169],"results":[170],"demonstrate":[171],"our":[172],"good":[176],"ability":[178],"case":[182],"rotation,":[184],"occlusion,":[186],"transformations,":[189],"etc.":[192],"it":[194,203],"can":[195],"be":[196],"implemented":[197],"real":[199],"time,":[200],"makes":[202],"very":[204],"appropriate":[205],"for":[206],"use.":[209]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}