{"id":"https://openalex.org/W6945986345","doi":"https://doi.org/10.26190/unsworks/3243","title":"Vision based mapping and navigation: modelling, geometric analysis and quality control","display_name":"Vision based mapping and navigation: modelling, geometric analysis and quality control","publication_year":2022,"publication_date":"2022-03-16","ids":{"openalex":"https://openalex.org/W6945986345","doi":"https://doi.org/10.26190/unsworks/3243"},"language":"en","primary_location":{"id":"pmh:oai:unsworks.library.unsw.edu.au:1959.4/58300","is_oa":true,"landing_page_url":"http://hdl.handle.net/1959.4/58300","pdf_url":"http://handle.unsw.edu.au/1959.4/58300","source":{"id":"https://openalex.org/S4306401737","display_name":"UNSWorks (University of New South Wales, Sydney, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40053085","host_organization_name":"Australian Defence Force Academy","host_organization_lineage":["https://openalex.org/I40053085"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"http://purl.org/coar/resource_type/c_db06"},"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://handle.unsw.edu.au/1959.4/58300","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Li, Zeyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Li, Zeyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.664900004863739,"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":0.664900004863739,"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":0.038600001484155655,"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":0.029999999329447746,"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/outlier","display_name":"Outlier","score":0.30480000376701355},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.2720000147819519},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.2694999873638153},{"id":"https://openalex.org/keywords/tubulopathy","display_name":"Tubulopathy","score":0.265500009059906},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2583000063896179}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.453000009059906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43720000982284546},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2720000147819519},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2694999873638153},{"id":"https://openalex.org/C2776356786","wikidata":"https://www.wikidata.org/wiki/Q1048573","display_name":"Tubulopathy","level":3,"score":0.265500009059906},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.24500000476837158},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.24160000681877136},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.22419999539852142}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:unsworks.library.unsw.edu.au:1959.4/58300","is_oa":true,"landing_page_url":"http://hdl.handle.net/1959.4/58300","pdf_url":"http://handle.unsw.edu.au/1959.4/58300","source":{"id":"https://openalex.org/S4306401737","display_name":"UNSWorks (University of New South Wales, Sydney, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40053085","host_organization_name":"Australian Defence Force Academy","host_organization_lineage":["https://openalex.org/I40053085"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"http://purl.org/coar/resource_type/c_db06"},{"id":"pmh:oai:unsworks.unsw.edu.au:1959.4/58300","is_oa":false,"landing_page_url":"http://handle.unsw.edu.au/1959.4/58300","pdf_url":null,"source":{"id":"https://openalex.org/S4377196481","display_name":"UNSWorks (UNSW Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31746571","host_organization_name":"UNSW Sydney","host_organization_lineage":["https://openalex.org/I31746571"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"doi:10.26190/unsworks/3243","is_oa":true,"landing_page_url":"https://doi.org/10.26190/unsworks/3243","pdf_url":null,"source":{"id":"https://openalex.org/S7407053176","display_name":"University of New South Wales","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Dissertation"}],"best_oa_location":{"id":"pmh:oai:unsworks.library.unsw.edu.au:1959.4/58300","is_oa":true,"landing_page_url":"http://hdl.handle.net/1959.4/58300","pdf_url":"http://handle.unsw.edu.au/1959.4/58300","source":{"id":"https://openalex.org/S4306401737","display_name":"UNSWorks (University of New South Wales, Sydney, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40053085","host_organization_name":"Australian Defence Force Academy","host_organization_lineage":["https://openalex.org/I40053085"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"http://purl.org/coar/resource_type/c_db06"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W6945986345.pdf","grobid_xml":"https://content.openalex.org/works/W6945986345.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"For":[0],"the":[1,32,58,88,94,159,178,198,225,229,234,237,266,282,287,297,328,339,362,414,473,485,521,527,533,568,573,582,604,610,613,623,629,644,650,653,666,671],"last":[2],"three":[3],"decades,":[4],"vision":[5,35,97,217,365,443],"based":[6,36,98,135,218,366,420,444,506,547],"mapping":[7,18,37,99,104,219,235,367,445],"and":[8,17,38,46,79,86,100,125,150,173,182,192,206,220,231,252,268,294,301,306,324,330,368,378,427,446,510,515,599,647,657,668],"navigation":[9,39,101,132,221,298,417,447],"has":[10],"become":[11],"one":[12],"mainstream":[13],"to":[14,42,51,84,105,157,171,360,450,471,482,500,615],"localize":[15],"platforms":[16],"environments":[19,517],"especially":[20],"where":[21],"Global":[22],"Navigation":[23],"Satellite":[24],"System":[25],"(GNSS)":[26],"is":[27,40,129,155,222,286,355,448,467,480,498,554],"not":[28],"available.":[29],"By":[30,388],"using":[31,133,311,389,418,550,565,649],"camera":[33,230,553],"measurement,":[34],"able":[41],"determine":[43],"cameras\u2019":[44],"poses":[45,557],"objects":[47,585],"coordinates\u2019":[48],"with":[49,66,177,398,430,496,622],"regard":[50],"a":[52,68,152,260,489,551],"specific":[53],"coordinate":[54],"system.":[55],"However,":[56],"since":[57],"inputs":[59],"of":[60,70,96,111,122,146,161,180,214,245,270,284,332,364,373,410,416,457,529,535,558,584,655,670],"such":[61,401],"systems":[62],"are":[63,148,257,309,338,560,575,586,594,660],"merely":[64],"images":[65,285,441,512],"ambiguities,":[67],"number":[69,267,283,329,409,654],"potential":[71],"issues":[72],"still":[73],"exist,":[74],"deteriorating":[75],"its":[76,142,382,452],"accuracy,":[77],"integrity":[78],"continuity.":[80],"This":[81],"thesis":[82,113,359],"aims":[83],"analyze":[85],"improve":[87,361,451,526],"performance":[89,201,383,528],"as":[90,92,117,138,349,402],"well":[91],"extend":[93],"application":[95],"from":[102,463],"sparse":[103],"dense":[106,545,578,597,617,631],"mapping.":[107],"The":[108,144,166,212,370,454,469,556],"main":[109],"contribution":[110],"this":[112,358],"can":[114,524],"be":[115],"summarized":[116],"follows:":[118],"a)":[119],"Performance":[120],"evaluation":[121],"robust":[123],"estimators":[124],"outlier":[126,163,645],"detection":[127,164],"algorithms":[128],"conducted":[130],"in":[131,202,216,303,357,384,408,442,513,532],"reality":[134,419,546],"3D":[136,421,548,619,633],"maps":[137,549,634],"outliers":[139,147,175,181],"will":[140,275,320],"deteriorate":[141],"integrity.":[143,453],"resources":[145],"analyzed,":[149],"then":[151],"simulated":[153,261,509,651],"environment":[154,183],"created":[156],"evaluate":[158],"performances":[160,396],"these":[162],"algorithms.":[165,580],"experiments":[167,505],"demonstrated":[168,519],"their":[169],"feasibility":[170,614],"detect":[172],"exclude":[174],"varies":[176],"magnitudes":[179],"characteristics.":[184],"It":[185,263,315],"shows":[186,264,316,394,424,612],"that":[187,265,291,317,520,664],"Least":[188],"Trimmed":[189],"Squares":[190],"(LTS)":[191],"Modified":[193],"M":[194],"(MM)":[195],"estimator":[196],"have":[197,321,518,635],"most":[199,288,340],"balanced":[200],"Detection":[203],"Capability":[204],"(DC)":[205],"False":[207],"Alarm":[208],"Rate":[209],"(FA).":[210],"b)":[211],"concept":[213],"geometry":[215,319],"defined":[223],"by":[224,476,562,577,588],"geometric":[226],"components":[227],"between":[228,643],"objects.":[232],"On":[233,296],"side,":[236,299],"geometry\u2019s":[238],"influence":[239],"on":[240,507,640],"global":[241,278],"redundancy":[242,279],"number,":[243],"Dilution":[244],"Precision":[246],"(DoP),":[247],"Minimum":[248,253],"Detectable":[249],"Bias":[250,255],"(MDB)":[251],"Separable":[254],"(MSB)":[256],"analyzed":[258,310],"through":[259],"environment.":[262],"distribution":[269,331],"Ground":[271,334],"Control":[272,335],"Points":[273,336],"(GCPs)":[274],"significantly":[276,525],"affect":[277,665],"number.":[280],"Besides,":[281],"important":[289,341,662],"factor":[290],"affects":[292],"MDB":[293],"MSB.":[295],"detectability":[300,323,667],"separability":[302,669],"both":[304,508],"single-outlier":[305],"multiple-outlier":[307],"scenarios":[308],"real":[312,390,511,605],"indoor":[313,386,391,514,608],"images.":[314],"better":[318,322,425,636],"separability.":[325],"Among":[326],"them,":[327],"Pseudo":[333],"(PGCPs)":[337],"factors.":[342],"c)":[343],"A":[344,434,539],"new":[345,435,540],"environmental":[346],"feature":[347],"named":[348],"Line":[350],"Segment":[351],"Intersection":[352],"Feature":[353,405,460],"(LSIF)":[354],"proposed":[356,371,449,481,522,595,672],"continuity":[363,428],"navigation.":[369],"design":[372],"LSIF":[374,393,423],"detection,":[375],"description,":[376],"matching":[377,579,598],"validation":[379],"algorithm":[380],"guarantees":[381],"texture-less":[385],"environments.":[387],"images,":[392],"superior":[395],"compared":[397,429],"traditional":[399,431],"keypoints":[400,466],"Scale":[403],"Invariant":[404],"Transform":[406],"(SIFT)":[407],"matched":[411,465],"keypoints.":[412,432],"Under":[413],"framework":[415,542,611,624],"maps,":[422],"accuracy":[426],"d)":[433],"keypoint":[436],"mismatch":[437,530],"removal":[438],"approach":[439,523],"for":[440,543,570,596,607],"clustering":[455],"character":[456],"Geometric":[458],"Correspondence":[459],"(GCF)":[461],"extracted":[462],"tentatively":[464],"illustrated.":[468],"Algorithm":[470],"Identify":[472],"Cluster":[474],"formed":[475],"Correct":[477],"Matches":[478],"(AICCM)":[479],"correctly":[483],"identify":[484],"correct":[486],"matches.":[487],"Then":[488,567],"Progressive":[490],"Sample":[491],"Consensus":[492],"(PROSAC)":[493],"process":[494],"integrated":[495],"hyperplane-model":[497],"employed":[499],"further":[501],"eliminate":[502],"mismatches.":[503,537],"Extensive":[504],"outdoor":[516],"elimination":[531],"presence":[534],"high-percentage":[536],"e)":[538],"multiple-view":[541],"generating":[544],"single":[552],"proposed.":[555],"cameras":[559],"determined":[561,587],"space":[563,589,600],"resection":[564],"GCPs.":[566],"correspondences":[569],"pixels":[571],"within":[572],"image":[574,606,656],"established":[576],"Finally":[581],"coordinates":[583],"intersection.":[590],"Two":[591],"quality":[592,626],"strategies":[593],"intersection":[601,658],"respectively.":[602],"Through":[603,638],"environments,":[609],"generate":[616],"reality-based":[618,632],"maps.":[620],"Compared":[621],"without":[625],"control":[627],"strategy,":[628],"generated":[630],"quality.":[637],"analysis":[639],"MDB,":[641],"correlation":[642],"statistics":[646],"MSB":[648],"environment,":[652],"angle":[659],"two":[661],"factors":[663],"framework.":[673]},"counts_by_year":[],"updated_date":"2026-07-13T05:41:17.278356","created_date":"2025-10-10T00:00:00"}
